First code refactor #1
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Contents: - input and parameters parser - double and triple pendulum models - abstract classes for model, dynamics simulator and optimal controller - VBOC controller - simple NN for learning
| x_limit = True | ||
| else: | ||
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| if model.checkPositionBounds(x_star[j - 1, :model.nq]): |
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Checking the position bounds on x_star should be useless, as x_star is the solution of the OCP, therefore it should always satisfy the position bounds.
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This check is along the trajectory found by the OCP, so x_star[j-1] can be on the position bounds or not.
- change name of the flag for uniform sampling - comment on `d` sign - some fix on the `check` conditions - fix handling of `horizon` argument - improved plot of viability kernel (generated data near the plotted borders)
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Main features:
--horizon=Nargument (works only with uniform sampling)