Restructuring ReducedModelControllers #703
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populated also the z-subdynamics optivars dirty fix to Test compilation fail some clean up of Parametrized and added relevant test align implementation of parametrized with original centoridal remove trailing whitespaces fix compilation issue related to CentroidalMPCOutput struct added Stable Centroidal basic class prepare PR for only StableCentroidal
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Closing in favor of #734 |
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In this PR I will add the
StableCentroidalMPCas derived class from aBaseCentroidalMPCtogether with keeping the originalCentroidalMPCimplementation unchanged.The idea is also to add the
ParametrizedCentroidalMPCderived class. However I will leave that to a separate PR till I fix the associated unit test issue.