Fixes to ProxDDP #242
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Fixes to ProxDDP #242
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This was referenced Nov 1, 2024
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Nov 1, 2024
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This PR implements a bunch of changes to ProxDDP.
The fix for the 'else' branch of BCL is critical and fixes a mistake introduced here: https://github.com/Simple-Robotics/aligator/blame/ae8d331b8db0a7dc53308ad47abf96a7be53b53f/include/aligator/solvers/proxddp/solver-proxddp.hxx#L511-L513 by 755ca65