Restructure of the CentroidalMPC class

ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots

BSD 3-Clause "New" or "Revised" License

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Closed GiulioRomualdi closed 8 months ago

GiulioRomualdi commented 8 months ago

This PR restructure of the CentroidalMPC class, in detail:

Now the CentroidalMPC returns a contact phase list instead of the next active contact
It is now possible to switch from ipopt to sqpmethod to solve the optimization problem
It is now possible to set the warm-start for the non linear solver

GiulioRomualdi commented 8 months ago

merging since the CI failure is not related to this PR