Fix the cycling of problem data in MPC

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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Fix the cycling of problem data in MPC #215

Closed edantec closed 2 months ago

edantec commented 2 months ago

The cycle function in workspace did not cycle correctly the constraint-related quantities and the knots of the corresponding LQR problem. This PR fixes the problem.