Refactor ipddp_core.cpp: Updates to Backward Pass and Forward Pass #108
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- Removed redundant initialization check in `initializeIPDDP()`. - Enhanced condition for initialization in `solveIPDDP()` to include checks for `S_`. - Cleaned up comments and improved code readability by standardizing formatting. - Streamlined control updates and slack variable handling in `solveIPDDPForwardPass()`. - Added debug output for backward pass to assist in tracking performance metrics.
… clarity - Simplified regularization parameter initialization and added verbose output for state and control regularization. - Removed redundant calculations for Q matrices, enhancing performance and readability. - Consolidated logic for Hessian term calculations, ensuring consistency across different regularization types.
- Simplified the logic for decreasing regularization parameters by using `std::max()` to ensure minimum thresholds are maintained. - Improved code readability and reduced redundancy in the regularization update process.
- Updated debug messages to use "IPDDP" instead of "CDDP" for better context. - Changed loop structures from `for` to `while` for improved readability and consistency in backward pass logic. - Simplified regularization handling by removing redundant checks, enhancing code clarity.
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This PR modifed
cddp_core/ipddp_core.cpp's backward pass and forward pass.