Split `computeDerivatives` into first and second-order

Simple-Robotics / aligator

A versatile and efficient framework for constrained trajectory optimization

https://simple-robotics.github.io/aligator/

BSD 2-Clause "Simplified" License

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Split `computeDerivatives` into first and second-order #144

Closed fabinsch closed 1 month ago

fabinsch commented 2 months ago

currently the function StageModelTpl<Scalar>::computeDerivatives computes both first and second-order derivatives. It would be nice to have the choice of computing Hessians or here.