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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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Added the 6d contact model + updated the bipedal example + benchmark for quadruped and biped - [merged] #549

Closed wxmerkt closed 5 years ago

wxmerkt commented 5 years ago

In GitLab by @cmastalli on Aug 29, 2019, 14:07

_Merges topic/contact-6d -> cppdevel

In this PR, I solved the following issues #230, #234 and #235. I have additionally solve a bug in the DDP solver (i.e. Vxx symmetric).

wxmerkt commented 5 years ago

In GitLab by @cmastalli on Aug 29, 2019, 14:15

added 2 commits

Compare with previous version

wxmerkt commented 5 years ago

In GitLab by @cmastalli on Aug 29, 2019, 14:16

enabled an automatic merge when the pipeline for 5063447ae2ed1de0b1e71da53779b1ab8676a59b succeeds

wxmerkt commented 5 years ago

In GitLab by @cmastalli on Aug 29, 2019, 14:27

merged

wxmerkt commented 5 years ago

In GitLab by @cmastalli on Aug 29, 2019, 14:27

mentioned in commit 0e6565515c06ab551a5d4f2344499af188415d81