Cleanup package

[MaximilienNaveau]

Split code into:

• Create an interface to HPP as a simple Python class.

  • Done by @TheoMF

• Buffer for the trajectory

  • Deal with buffering the output of hpp

• Warm start interface

  • Interface from simple warm-start
  • Deal with delay between measurement and calculation
  • Learning

• OCP class responsible of:

  • get_trajectory_horizon
  • Build crocco problem from horizon
  • solve(x0) the crocco problem

• mpc:

  • Get trajectory point per point and buffer it.
  • call ocp.get_trajectory()
  • call ocp.build_problem
  • call ocp.solve
  • call ocp.extract_solution

• agimus_controller_demo.py:

  • discretize and send points per points to mpc
  • logs

[ArthurH91]

OCP and MPC with their demo scripts done here.

[MaximilienNaveau]

In the coding week we decided to implement this pattern:

We will try make a first pull request with non working code but an idea of the API.