Add the frame rotation cost + improve description of cost classes (!161) · Merge requests · loco-3d / crocoddyl

Carlos Mastalli requested to merge cmastall/crocoddyl:topic/frame-rotation-cost into devel Apr 22, 2019

This PR includes the cost model for frame rotation. Despite that this kind of cost can be implemented through CostModelFramePlacement, it's very inefficient.

I have some unmerged code that uses this type of cost functions.

Edited Apr 22, 2019 by Carlos Mastalli

Add the frame rotation cost + improve description of cost classes

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