This PR is a significant update from the previous version. It uses v0.4 of RobotDynamics, which offers a completely new API for evaluating functions and their derivatives under the unified FunctionBase. This allows for both in-place and out-of-place function signatures and a variety of differentiation methods. This should allow the problems to scale better to higher dimensions, by switching to in-place operations using normal arrays instead of StaticArrays.
This PR is a significant update from the previous version. It uses
v0.4ofRobotDynamics, which offers a completely new API for evaluating functions and their derivatives under the unifiedFunctionBase. This allows for both in-place and out-of-place function signatures and a variety of differentiation methods. This should allow the problems to scale better to higher dimensions, by switching to in-place operations using normal arrays instead ofStaticArrays.