IrsMpc Cleanup - Githubissues

pangtao22 / planning_through_contact

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IrsMpc Cleanup #55

Closed pangtao22 closed 2 years ago

pangtao22 commented 2 years ago

Revamping the IrsMpc class. The goal is to

remove intermediaries such as QuasistaticDynamics and QuasistaticDynamicsParallel,
support more combinations of smoothing (zero/first, analytic/randomized, pyramid/icecream) and rollout (bundled/not-bundled) modes at the level of IrsMpcParameters.

This change is