In order to minimize the number of continuous dynamics calls for my linear system, I have tried to implement my own custom integration type and discrete_dynamics functions. However, I still have to define a continuous dynamics function because the initialization rollout defaults to the default integration rule. The following lines of code seem to be the culprit:
In order to minimize the number of continuous dynamics calls for my linear system, I have tried to implement my own custom integration type and discrete_dynamics functions. However, I still have to define a continuous dynamics function because the initialization rollout defaults to the default integration rule. The following lines of code seem to be the culprit:
https://github.com/RoboticExplorationLab/Altro.jl/blob/a33a013c28c6fdcc35dbc48ba02e0e372a56e995/src/ilqr/rollout.jl#L33
https://github.com/RoboticExplorationLab/TrajectoryOptimization.jl/blob/20f726ebf168107305b36c7c551029e031ba24d3/src/trajectories.jl#L178
This currently prevents you from defining a purely discrete system.