Deprecate struct StageConstraint, add option to set dual tolerance on SolverProxDDP, re-implement TrajOptProblemTpl::checkIntegrity()
#226
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solver-proxddp.hxx: tiny simplification
…arget_dual_tol_` with a getter and setter (with side effects)
…s (check consistent dimensions)
+ deprecate the related typedefs in context + remove the typedefs from ConstraintStackTpl + deprecate functions manipulating StageConstraint objects Closes Simple-Robotics#224
ManifoldFR
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StageConstraint, add option to set dual tolerance on SolverProxDDPStageConstraint, add option to set dual tolerance on SolverProxDDP, re-implement TrajOptProblemTpl::checkIntegrity()
+ remove private checkStages() + check for numSteps() == 0
Expose TrajOptProblem::checkIntegrity() Move computeTrajectoryCost() to traj-opt-data.hpp header
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Plus:
TrajOptProblemTpl::computeTrajectoryCost()into a free function, move totraj-opt-data.hppheaderHistoryCallbackTpl::storageinner structCloses #224
Merge before #227