- 05 Jun, 2022 3 commits
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Carlos Mastalli authored
Interfacing IpOpt from Crocoddyl
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Pep Marti Saumell authored
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Pep Marti Saumell authored
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- 03 Jun, 2022 4 commits
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Carlos Mastalli authored
Adds acrobot example
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Carlos Mastalli authored
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Carlos Mastalli authored
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Pep Marti Saumell authored
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- 02 Jun, 2022 24 commits
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Wolfgang Merkt authored
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Wolfgang Merkt authored
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Carlos Mastalli authored
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Carlos Mastalli authored
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Carlos Mastalli authored
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Carlos Mastalli authored
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Carlos Mastalli authored
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Carlos Mastalli authored
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Pep Marti Saumell authored
- remove passing by const reference elementary types - change `Jsum_dx` by `Jint_dx` - control bounds now depend on whether they are defined - remove unnecessary scopes -change `2e19` by `std::numeric_limits` - overwrite th_stop function wrapping `tol` parameter - add preprocessor IPOPT guard where necessary - fix unittest to not consider IPOPT if not installed - add license in the files
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Pep Marti Saumell authored
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Pep Marti Saumell authored
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Pep Marti Saumell authored
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Pep Marti Saumell authored
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Pep Marti Saumell authored
- add noalias when computing derivatives - remove unnecessary objects from the data class - remove call to calc in derivatives computation methods
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Pep Marti Saumell authored
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Pep Marti Saumell authored
- express initial condition in its tangent space - number of states and controls independnet for each node - create ipopt data struct to store temporal solver data - add specific setter to specify ipopt options
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Pep Marti Saumell authored
Initial condition constrain was defined as: `g(Dx_0) = x_0 \oplus Dx_0 = x(0)`. Now is defined as `g(Dx_0) = x(0) \ominus (x_0 \oplus Dx_0) = 0`
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Pep Marti Saumell authored
- variable renaming - use of `assert_pretty` - add `namespace crocoddyl` - use of `model&` and `data&` to access problem model and data - remove ipopt legacy comments
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Pep Marti Saumell authored
- changed ipopt related variable names - use of setCandidate() function
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Pep Marti Saumell authored
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Pep Marti Saumell authored
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Pep Marti Saumell authored
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Pep Marti Saumell authored
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Pep Marti Saumell authored
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- 20 May, 2022 1 commit
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Carlos Mastalli authored
Added more unit-tests for contact/impulse cost residuals and removed useless set_id
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- 19 May, 2022 5 commits
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Carlos Mastalli authored
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Carlos Mastalli authored
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Carlos Mastalli authored
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Carlos Mastalli authored
Sync submodule cmake
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Justin Carpentier authored
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- 17 May, 2022 3 commits
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Carlos Mastalli authored
Enabled OpenMP in Apple + improved documentation in solvers
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Carlos Mastalli authored
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Carlos Mastalli authored
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