Refactor QuadraticCost with offsets, fix quadraticization bug, and add comprehensive unit tests. #101
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…s; remove arg typing
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Thank God. I should have done this so long ago instead of as a step along the port to autodiff quadraticization. Test driven development is under-utilized.
TODO: Update usage in repo and generate identical plots (or fixed?) plots.
TODO: Delete
QuadraticCostWithOffsetstruct; Close #82.TODO: Add a unit test to ensure that iLQR, SILQGames converge in one step when run on an LQ game with step size 1.
TODO: See #84, #85 for potential helpers to further improve this code. There are commented TODOs in the code as well.
NEXT STEPS: Refactor the general cost classes to have a function field that describes the cost; also use autodiff for general quadraticization in
CostUtils.jl.