Skip to content

Current status of the second version of the DDP structure

Carlos Mastalli requested to merge (removed):devel into devel

This PR contains all actual changes done by @rbudhira and @cmastall. This PR doesn't represent the final version of the DDP structure, just intermediate steps towards that milestone. Indeed there are plenty of stuff to work on it, the main points are:

  1. Having a definite description of the dynamics, cost manager, discretizer and integrator,
  2. Testing (1) with a linear system through previous developed unit-tests,
  3. Writing the ABA dynamics for analysing the DDP solver with the Talos arm,
  4. Integrating all the available unit-tests,
  5. Checking that solver have same behaviour as before.

Point 1 is definitively the most time consuming and our current priority. Especially there is a considerable amount of needed work on the dynamics, discretizers and integrators. I need to put back some relevant features that are in the first version of the DDP structure (172a4a2a).

@rbudhira please note that there isn't need to double check this PR. It's exactly what we've done together.

@rbudhira let's work together in this WIP PR. You should be able to modify it. I still need to commit last modifications for you.

Edited by Carlos Mastalli

Merge request reports