Skip to content

c++ implementation and Python bindings of state and control cost models

The main focuses of this PR is to develop the c++ code and its Python bindings for the state and control cost models. However there are other important contributions:

  1. Added unit-test code for the state cost
  2. createData is a nonpure virtual function for various abstractions.
  3. Renamed the cost empty files.
  4. Removed Eigen::Ref for all constructors, useless thing that added undesired extra code for bindings.
  5. Used the getter functions for retrieve information in Python.
  6. Increased the FDDP solver tolerance in the unit-test. This was not fully tested by me.

It tackles the issue #194 (closed).

Edited by Carlos Mastalli

Merge request reports