Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
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Extended solver abstraction and callback for arbitrary solvers #1179
This PR includes extra members in the solver abstraction to enable us to print relevant logs for solvers with arbitrary constraints. It also extends the verbosity levels for better user convenience. This, for instance, enables us to print the values of the merit function, and its current and expected reductions.
Moreover, this PR deprecates regularizations for the state and control. Instead, these variables are renamed to primal and dual variable regularizations.
Finally, the PR uses the new verbosity for printing logs and simplifies the display visualization of results.
In short, this effort is a small step towards my team's efforts in incorporating advanced solvers. We'll release them at a convenient time.
This PR includes extra members in the solver abstraction to enable us to print relevant logs for solvers with arbitrary constraints. It also extends the verbosity levels for better user convenience. This, for instance, enables us to print the values of the merit function, and its current and expected reductions.
Moreover, this PR deprecates regularizations for the state and control. Instead, these variables are renamed to primal and dual variable regularizations.
Finally, the PR uses the new verbosity for printing logs and simplifies the display visualization of results.
In short, this effort is a small step towards my team's efforts in incorporating advanced solvers. We'll release them at a convenient time.