Trajectory Optimization API - #46

Merged

alberthli merged 28 commits into

mainfrom

Dec 5, 2023

Commits on Dec 2, 2023

Commits on Dec 3, 2023

add some informative comments to base.py
alberthli
committed
f5610fc
[maybe] added cost function to base API
alberthli
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17642f6
shooting method APIs, no cost function implemented yet
alberthli
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4e1ae77
define generic CostFunction API
alberthli
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8c9cd6b
expose a CostFunction field of shooting methods
alberthli
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0d175f0
add specific implementation of (non-sparse) quadratic CostFunction with static goal and cost matrices
alberthli
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987e334

Commits on Dec 4, 2023

fixed missing field in docstrings
alberthli
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2b268f8
fixed missing field in docstrings
alberthli
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13efcfd
pass non-kwarg functions to vmap since vmap breaks in that case
alberthli
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b6ea473
added preliminary dead simple predictive sampling example
alberthli
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6bf291d
minor, get from property
alberthli
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2cfdbfd
fixed some params + simplify sampling of us to one line
alberthli
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dc5d247
[DIRTY] commit that contains commented out code for pre-allocating data in case we need it later
alberthli
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ff6dbcc
revert to allocating data at shooting time
alberthli
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9f12d74
[DIRTY] some additions to the example script for profiling help
alberthli
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3fda8ba

Commits on Dec 5, 2023

refactor API to take xs instead of qs and vs
alberthli
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0f507e3
tests for cost function and its derivatives
alberthli
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b2d8296
added smoke test for vanilla predictive sampler
alberthli
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0e24057
remove the example since it's implemented as a benchmark in an upstream PR
alberthli
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adf4243
minor docstring edit
alberthli
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773be6a
ensure predictive sampler also accounts for cost of guess vs. samples
alberthli
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544f964
add sanity check for predictive sampling
alberthli
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4e22073
added fixture to tests
alberthli
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0c49505
fix stray parenthetical
alberthli
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90ea8f4