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HJReachability / ilqgames

Iterative Linear-Quadratic Games!
https://hjreachability.github.io/ilqgames/
BSD 3-Clause "New" or "Revised" License
132 stars 41 forks source link

Open loop linesearch #53

Closed dfridovi closed 3 years ago

dfridovi commented 3 years ago

Using the open loop linesearch for both feedback and open loop, since it's at least a better idea than what's there now. Most of the changes are in the file ilq_solver.cpp in the ExpectedDecrease() and MeritFunction() functions.

dfridovi commented 3 years ago

This is now ready to merge, and will be merged tomorrow unless there are comments otherwise.