refactoring of existing code.

hjsuh94 commented 3 years ago

@pangtao22 what do you think about the new interface for dilqr_rs_gradient? With this interface the quasistatic sims should be able to be a isolated environment under the examples folder without requiring its own dilqr_rs class.

(There are lots of structural changes so probably easier to look at the branch directly rather than looking at changes)

hjsuh94 commented 3 years ago

Added dynamical systems class!

hjsuh94 commented 3 years ago

Major changes:

After talking with Russ, the solvers are called IrsLqr appended by Exact, FirstOrder, and ZeroOrder.
Small details that Pang pointed out have been addressed, such as renaming xdt to xd_trj and u_trj to u_trj_init.
File names have been cleaned up.
Quadrotor example is added.

Next steps:

The scope of this PR will be on refactoring existing code only, so we should merge if the existing code doesn't have any issues.
After merging this PR, the repo name will change to irs_lqr.
@pangtao22 will submit a PR to put the contact examples, and we will start also address deficiencies in the current solver interface while our codes merge!

pangtao22 commented 3 years ago

LGTM! Let's merge and I'll start converting my code to the new interface. And after that we can try to make it faster!

hjsuh94 / irs_mpc

refactoring of existing code. #1