Skip to content

Changed the alpha rate

Carlos Mastalli requested to merge solver into devel

It often used a reduced rate of 0.5 for the step length values. In this PR, I changed to that desired rate. I tested this changes with all problems (including different quadrupedal gaits) and I noticed a reduction in the number of iterations in each of them.

For instance, you might see a significantly improvement in the cartpole example (also bounding quadrupedal gait).

Edited by Carlos Mastalli

Merge request reports