Moved adaptive Levenberg marquardt calculation to common #1136
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… up parts of cost
…nlp_approximate_qp_matrices
…er each ocp_nlp_approximate_qp_matrices call
FreyJo
approved these changes
Jun 17, 2024
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This PR moved the adaptive Levenberg-Marquardt update from the DDP solver to
ocp_nlp_common, such that it also can be used by the SQP solver in the future. The PR includes the following changes:ocp_nlp_compute_cost_from_submoduleswas added that adds the components of the cost function.ocp_nlp_approximate_qp_matricesanymore, but within a novel functionocp_nlp_add_levenberg_marquardt_term. This function is called afterocp_nlp_approximate_qp_matrices.ocp_nlp_add_levenberg_marquardt_termwas added withinocp_nlp_sqp.candocp_nlp_sqp_rti.c.