Refactor iLQR/iLQG/DDP Solve methods

ipab-slmc / exotica

Extensible Optimization Framework

https://ipab-slmc.github.io/exotica

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

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Closed traikodinev closed 3 years ago

traikodinev commented 5 years ago

The Solve methods are too long, spanning a couple of screens. Should be refactored.

wxmerkt commented 3 years ago

This should be resolved by #723