Created solver abstraction and implemented for the SolverDDP, SolverFDDP and SolverKKT (!151) · Merge requests · loco-3d / crocoddyl

This PR makes the following changes:

Created a solver abstraction (i.e. SolverAbstract class) inside solver.py
Integrated this class into SolverDDP, SolverFDDP and SolverKKT classes.
Implemented setCandidate, models and datas inside SolverAbstract
Removed legacy variable b inside SolverDDP.forwardPass method. and it tackles issue #79 (closed).

@nmansard do you have any further suggestions? I believe that we could do more things but it might be premature in this phase.

Edited Mar 28, 2019 by Carlos Mastalli

Created solver abstraction and implemented for the SolverDDP, SolverFDDP and SolverKKT