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Adding diagnostic tools

Carlos Mastalli requested to merge cmastall/crocoddyl:diagnostic-tools into topic/refact

In this PR, I created a set of diagnostic tools:

  • two callback models: SolverPrinter and SolverDisplay,
  • adaptation of DDP solver for running the stack of callback functions defined by the user, and
  • extra variables in the logger (control regularization and gamma)

Additionally I adapted the unit-test code according to this minimal change in the solver.callback API.

This issue was reported in #77 (closed).

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