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Re-define ALM params struct internally to aligator #219

Merged
merged 4 commits into from
Oct 1, 2024
Merged

Re-define ALM params struct internally to aligator #219

merged 4 commits into from
Oct 1, 2024

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ManifoldFR
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We remove use of proxsuite-nlp's BCLParams struct and instead add an inner struct AlmParams to SolverProxDDP. This allows us to move some aligator-specific parameters inside of this struct.

@ManifoldFR ManifoldFR marked this pull request as draft October 1, 2024 14:09
@ManifoldFR ManifoldFR marked this pull request as ready for review October 1, 2024 14:53
@ManifoldFR ManifoldFR enabled auto-merge October 1, 2024 15:02
@ManifoldFR ManifoldFR requested a review from edantec October 1, 2024 15:02
@ManifoldFR ManifoldFR merged commit 78e7700 into Simple-Robotics:devel Oct 1, 2024
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@ManifoldFR ManifoldFR deleted the topic/proxddp-changes branch October 1, 2024 16:28
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@edantec edantec edantec approved these changes

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@ManifoldFR @edantec