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loco-3d / crocoddyl

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
BSD 3-Clause "New" or "Revised" License
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Solver - [merged] #358

Closed wxmerkt closed 4 years ago

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Oct 16, 2018, 09:23

Merges solver -> devel

This PR request contain few improvements in the solver structure and its unit-test. The changes are:

  1. Armijo-like condition for acceptance the line search
  2. Comparison between DDP solution and KKT solution (unit-test)
  3. Using data.f for integration, instead of creating internally a data for it.
  4. Simple tuning of mu for Value-function regulation.

All the changes were tested in the set of unit-tests, and in the DDP problem with the manipulator and quadruped robots.

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Oct 16, 2018, 09:23

merged

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Oct 16, 2018, 09:23

mentioned in commit 4b7b4d84471d783bb6ce0b7614238ef6a0190abd