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Cost Model Force Linear Cone

Rohan Budhiraja requested to merge proyan/crocoddyl:devel into devel

This creates a cost model which implements -> residue = A*f-ref. The idea is to use this residue and the activationmodelinequality to get Af<=0.

I have implemented a unittest for this cost:

  • I have only implemented the Lx and Lu checking, since Lxx=rx*rx does not apply in this case.
  • I have only implemented a simple checking of the derivatives, since activationmodelinequality is already being checked. So I don't check here which inequality is active.

This PR is related to #116 (closed).

Edited by Rohan Budhiraja

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