Restructure of the CentroidalMPC class #766
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- Now the CentroidalMPC returns a contac phase list instead of a the next active contact - It is now possible to switch from ipopt to sqpmethod to solve the optimization problem - It is now possible to set the warm-start for the non linear solver
S-Dafarra
reviewed
Nov 20, 2023
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815
| // casadiOptions["elastic_mode"] = true; | ||
| // casadiOptions["convexify_strategy"] = "regularize"; | ||
| // casadiOptions["hessian_approximation"] = "limited_memory"; | ||
| // casadiOptions["error_on_fail"] = false; |
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yes I can remove it
S-Dafarra
approved these changes
Nov 20, 2023
|
merging since the CI failure is not related to this PR |
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This PR restructure of the CentroidalMPC class, in detail: