search

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
845 stars 173 forks source link

c++ implementation of differential action model abstract and LQR + Python bindings - [merged] #517

Closed wxmerkt closed 4 years ago

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Jul 16, 2019, 16:35

_Merges topic/cpp-diff-action -> cppdevel

In this PR, I have written the following c++ classes and their Python bindings:

Additionally, I have included Python scripts for bindings benchmarking. This benchmarking includes the unicycle and LQR systems. Other further changes are:

  1. Added the LQRDerived python class
  2. Renamed the binding header files lqr.hpp and unicycle.hpp to action-lqr.hpp and action-unicycle.hpp. This resembles the same organization inside the c++ library.
  3. Added ncost (default argument) in the differential action model abstraction. This resembles the action model one.
  4. Formatted the Python code for unit-testing

All the changes have been successfully tested in my PC. Unfortunately the CI isn't working properly.

This PR solves the issues: #176 and #177

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Jul 16, 2019, 16:35

enabled an automatic merge when the pipeline for 6afca306a722d41bf994b828df501d51e40fdbb0 succeeds

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Jul 16, 2019, 16:36

canceled the automatic merge

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Jul 16, 2019, 16:36

mentioned in commit f7cc20929a0b6b70f3883595eb079e45fde5c97f

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Jul 16, 2019, 16:36

merged