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keenon
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This broadly looks good. I have a couple of comments about the naming of functions, and comments we need to add to explain things. There's a test or two I'd like to setup to run on CI to check for future regressions, and a few stray files I don't think you meant to commit. I also think it might be good to add some tests for all the getContactFreeXXXJacobian() and getContactReducedXXXJacobian() methods, comparing those to finite differencing, just to ensure we don't ship methods that are false advertising, and to prevent other students from breaking your code in later projects.
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keenon
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Let's get the CARTPOLE_ILQR test back in the test_iLQRHalfCheetah (unless you moved that test to another file and I missed it), and then I think we're good to merge.
| using namespace trajectory; | ||
| using namespace server; | ||
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| #ifdef iLQR_TEST |
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Sorry, I didn't mean to delete this test! I just meant to uncomment it. I think it'd be good to run this test at every commit.
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This test is identical to test_iLQR, and the rest of Half cheetah set up should be classified as an example. Therefore, I delete the test case to remove duplication. Sorry for the confusion.
| { | ||
| final_cost = simulate_traj(ilqr.getStatesFromiLQRBuffer(), ilqr.getActionsFromiLQRBuffer(), true); | ||
| } | ||
| std::cout << "Final Cost: " << final_cost << std::endl; |
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We should put a EXPECT_TRUE(final_cost < some_value); here, where you replace some_value with a number that makes the test barely pass.
| final_cost = simulate_traj(ilqr.getStatesFromiLQRBuffer(), ilqr.getActionsFromiLQRBuffer(), true); | ||
| } | ||
| std::cout << "Final Cost: " << final_cost << std::endl; | ||
| EXPECT_TRUE(final_cost < 5); |
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