Skip to content
GitLab
  • Menu
Projects Groups Snippets
  • Help
    • Help
    • Support
    • Community forum
    • Submit feedback
    • Contribute to GitLab
  • Sign in / Register
  • C crocoddyl
  • Project information
    • Project information
    • Activity
    • Labels
    • Members
  • Repository
    • Repository
    • Files
    • Commits
    • Branches
    • Tags
    • Contributors
    • Graph
    • Compare
  • Issues 0
    • Issues 0
    • List
    • Boards
    • Service Desk
    • Milestones
  • Merge requests 1
    • Merge requests 1
  • CI/CD
    • CI/CD
    • Pipelines
    • Jobs
    • Schedules
  • Deployments
    • Deployments
    • Environments
    • Releases
  • Packages & Registries
    • Packages & Registries
    • Container Registry
  • Monitor
    • Monitor
    • Incidents
  • Analytics
    • Analytics
    • Value stream
    • CI/CD
    • Repository
  • Wiki
    • Wiki
  • Snippets
    • Snippets
  • Activity
  • Graph
  • Create a new issue
  • Jobs
  • Commits
  • Issue Boards
Collapse sidebar
  • loco-3d
  • crocoddyl
  • Milestones
  • Python code structure for efficient DDP
Closed
Milestone started on Jun 1, 2018

Python code structure for efficient DDP

This milestone aims to develop a Python code structure targeting to very efficient DDP implementation. Note that a c++ implementation will be required later. For reaching this milestone is needed the following task:

  1. Definition of data-structure for avoiding dynamic memory allocation and improving performance.
  2. Working LQR: DDP for linear system with quadratic cost.
  3. Numerical derivatives for debugging.
  4. Parallelization and derivatives for fast computation.
  5. DDP for manipulation (i.e. fixed-based rigid-body dynamics).
  6. Point 5 with analytical derivatives from Pinocchio.
  7. DDP for locomotion (i.e. floating-base rigid-body dynamics)
  8. Point 7 with analytical derivatives from Pinocchio.
  9. Improvement in regularization and line-search using the case of study 5 and 7.
  • Issues 7
  • Merge requests 13
  • Participants 1
  • Labels 2
100% complete
100%
Start date
Jun 1, 2018
From
Jun 1 2018
Due date
No due date (1496 days elapsed)
7
Issues 7 New issue
Open: 0 Closed: 7
13
Merge requests 13
Open: 0 Closed: 0 Merged: 13
0
Releases
None
Reference: loco-3d/crocoddyl%"Python code structure for efficient DDP"