(Differential)ActionModelLQR abstractions
At the time being, the DifferentialActionModelLQR
and ActionModelLQR
classes are used for unit-testing code. They don't really represent any abstraction for LQR problems. This is counter-intuitive for me because I expect only core classes inside crocoddyl folder.
So, I propose the following actions:
- Redefine the constructor in order to pass A, B, Q and U (i.e. matrices for the linear dynamics and quadratic cost).
- Remove any random initialization of these matrices. For the
DAMLQR
means to remove the lines inside constructor, while forAMLQR
means to remove thesetUpRandom
function. - Move the set up of random values (for A, B, Q and U) inside the unit-test code (due to point 2). This isn't core function.
I raised this point as part of #79 (closed).