Impose a shallow class hierarchy for `Controllers`

iit-DLSLab / Quadruped-PyMPC

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax).

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Impose a shallow class hierarchy for `Controllers` #11

Open Danfoa opened 4 days ago

Danfoa commented 4 days ago

We need to use the control instances outside of the repository in a modular fashion.

[ ] Instantiate the controllers without using the config file after the initialization. I.e., the constructor handles the configuration parameters.
[ ] Differentiate Gradient and Sampling based methods, and import dependencies related to each controller alone.