Updated the impulse models that use damping factor for Cholesky decomposition

This tackles issue #253 (closed)

changed milestone to %Crocoddyl c++ implementation

added feature proposal label

@gsaurel The CI is failing because it's installing Pinocchio v2.1.7, however I defined in the cmake file v2.1.8

merged

mentioned in commit b68d2b15

As this PR has been merged, is it now recommendable to switch pseudoImpulse=False? Or is there something else we need to wait for before switching?

Thanks, Wolf

Yes, it is. If you run in debug mode, the algorithm complains it's needed to damp the Cholesky decomposition.

The Python script needs to be updated, so the users can pass a custom damping value.

Okay. What values for JMinvJt_damping and r_coeff do you recommend?

resolved all threads