Cleanup package

[MaximilienNaveau]

Split code into:

• Create an interface to HPP as a simple Python class.

  • [x] Done by @TheoMF

• Buffer for the trajectory

  • [ ] Deal with buffering the output of hpp

• Warm start interface

  • [ ] Interface from simple warm-start
  • [ ] Deal with delay between measurement and calculation
  • [ ] Learning

• OCP class responsible of:

  • [ ] get_trajectory_horizon
  • [ ] Build crocco problem from horizon
  • [ ] solve(x0) the crocco problem

• mpc:

  • [ ] Get trajectory point per point and buffer it.
  • [ ] call ocp.get_trajectory()
  • [ ] call ocp.build_problem
  • [ ] call ocp.solve
  • [ ] call ocp.extract_solution

• agimus_controller_demo.py:

  • [ ] discretize and send points per points to mpc
  • [ ] logs

[ArthurH91]

OCP and MPC with their demo scripts done here.