aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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Todo List
Struct aligator::ConstraintSetProductTpl< Scalar >
Switch to using our aligator::BlkMatrix template class.
Member aligator::SolverProxDDPTpl< _Scalar >::computeMultipliers (const Problem &problem, const std::vector< VectorXs > &xs, const std::vector< VectorXs > &lams, const std::vector< VectorXs > &vs)
For now we take the state values to use to compute the dynamics' defects.