Square root backward pass - Githubissues

RoboticExplorationLab / Altro.jl

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Square root backward pass #33

Open bjack205 opened 2 years ago

bjack205 commented 2 years ago

[ ] Create a new branch off of newsolver
[ ] Add a sqrt_backwardpass method in this file
[ ] Add a use_sqrt_bp option to SolverOptions
[ ] Add a top-level backwardpass! that calls the correct backwardpass based on the solver option

Resources:

The old sqrt backward pass from much older version of TrajectoryOptimization: https://github.com/RoboticExplorationLab/Altro.jl/blob/newsolver/src/solver_opts.jl#L32
The AL-iLQR Tutorial