Included an stopping criteria test for KKT on LQR problem
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This PR includes a very simple unit-test for stopping criteria in LQR problem. Basically, we build and solve a KKT problem (computeKKTPoint
https://gepgitlab.laas.fr/loco-3d/cddp/blob/topic/unittest/unittest/ddp.py#L184).
After that, we check that the gradient of the Lagrangian is equals zero.
Some extra comments:
buildKKTProblem
(https://gepgitlab.laas.fr/loco-3d/cddp/blob/topic/unittest/unittest/ddp.py#L138).This proposes a solution for the #17 (closed).
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Failed 00:00:20
| Stage: test |
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