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[WIP] Hmzh/refactor costs p2#102

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hmzh-khn wants to merge 16 commits intomainCLeARoboticsLab/StackelbergLeadershipFiltering:mainfrom hmzh/refactor-costs-p2CLeARoboticsLab/StackelbergLeadershipFiltering:hmzh/refactor-costs-p2Copy head branch name to clipboard

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Commits

Commits on Jun 1, 2023

• Add sampling to SystemInfo/Dynamics and assertions inside main algorithms.

  hmzh-khn

  committed
  f2d050d

Commits on Jun 2, 2023

• Implement linearization and discretization; new dx function

  hmzh-khn

  committed
  7e00001

• Reproduce 2-state PF results

  hmzh-khn

  committed
  49177c0

• Reproduce tests.

  hmzh-khn

  committed
  301ec22

• Adjust dynamics interface to include linearize_discretize

  hmzh-khn

  committed
  2a6406e

• Adjust iLQR and LQ example files.

  hmzh-khn

  committed
  22ecadc

Commits on Jun 4, 2023

• Implement unicycle dynamics; Some more improvements to core files and interface

  hmzh-khn

  committed
  43cb599

• Merge branch 'main' into hmzh/refactor-times-try2

  hmzh-khn

  committed
  fba9e0e

Commits on Jun 6, 2023

• Implement Jacobian linearization with ForwardDiff for dynamics objects; remove arg typing

  hmzh-khn

  committed
  469a900

• Fix scripts to produce reasonable results.

  hmzh-khn

  committed
  de0ba1a

• Missed a spot for the ForwardDiff stuff

  hmzh-khn

  committed
  4fca418

Commits on Jun 13, 2023

• Minor updates to testing utilities.

  hmzh-khn

  committed
  f860ee7

• Add offsets to quadratic costs; re-implement quadraticization of quadratic costs

  hmzh-khn

  committed
  f406b07

• Add and pass tests for quadratic costs.

  hmzh-khn

  committed
  c305c1d

• A few more bugfixes/changes that are needed for using QuadraticCost properly.

  hmzh-khn

  committed
  fe78dcf

Commits on Jun 15, 2023

• [WIP] Make tracking quadratic cost + tests, try to use it in the scripts

  hmzh-khn

  committed
  909b0ef