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ipab-slmc / exotica

Extensible Optimization Framework
https://ipab-slmc.github.io/exotica
BSD 3-Clause "New" or "Revised" License
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ControlLimitedDDPSolver duplicates variables, allocates a lot #678

Closed wxmerkt closed 3 years ago

wxmerkt commented 4 years ago

The AbstractDDPSolver already allocated Vx_, etc. The ControlLimitedDDPSolver re-allocates similarly named Vx etc. at every iteration. It could and should re-use the previously existing ones.