Sharing data between costs, constraints, dynamics

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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Sharing data between costs, constraints, dynamics #79

Open ManifoldFR opened 11 months ago

ManifoldFR commented 11 months ago

This would help with computational efficiency e.g. when dealing with Pinocchio models, similarly to what Crocoddyl's solution is (but hopefully without diamond inheritance).

ManifoldFR commented 4 weeks ago

Related: #208