Adds new solvers that do not rely on StaticArrays at all. The new version have performance on-par with the old versions for systems about the size of a quadrotor or larger. Optionally uses Octavian for improved performance on in-place matrix ops.
This PR adds the new solvers, which currently exist alongside the old ones, and are all labeled using the 2 suffix, e.g. iLQRSolver2. A future PR will remove the originals in favor of the new solvers.
Adds new solvers that do not rely on StaticArrays at all. The new version have performance on-par with the old versions for systems about the size of a quadrotor or larger. Optionally uses Octavian for improved performance on in-place matrix ops.
This PR adds the new solvers, which currently exist alongside the old ones, and are all labeled using the
2suffix, e.g.iLQRSolver2. A future PR will remove the originals in favor of the new solvers.