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Rk4 --- Ready to merge and waiting for review

Rohan Budhiraja requested to merge proyan/crocoddyl:rk4 into devel

I added the Linear dynamics and checked the derivatives of the dynamics and costs. The first order derivatives of L and F work.

I implemented the second order derivatives of L as well, however, there is no test yet.

  1. The current test, by using the residuals doesn't make sense to me for this integration scheme.
  2. I should implement an FD to unittest Lxx, Lxu etc (which should atlleast work for the case of DAMLQR). That is what I am doing now.

In case you wish to merge it now before the school, you could go ahead.

Edit: I added FD on the cost derivatives as well.

Edited by Rohan Budhiraja

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