Fixes to ProxDDP#242
Merged
ManifoldFR merged 7 commits intodevelfrom Nov 1, 2024
Merged
Conversation
Member
Author
|
This change is part of the following stack: Change managed by git-spice. |
This was referenced Nov 1, 2024
Merged
ManifoldFR
force-pushed
the
topic/proxddp/fixes
branch
from
cba523c to
54758e9
Compare
ManifoldFR
commented
Nov 1, 2024
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This PR implements a bunch of changes to ProxDDP.
The fix for the 'else' branch of BCL is critical and fixes a mistake introduced here: https://github.com/Simple-Robotics/aligator/blame/ae8d331b8db0a7dc53308ad47abf96a7be53b53f/include/aligator/solvers/proxddp/solver-proxddp.hxx#L511-L513 by 755ca65