Some confusion about cost about crocoddyl HOT 1 CLOSED

Hi @lrchit,

1. I suggest reading our MPC papers: (1) https://arxiv.org/pdf/2203.07554.pdf?trk=public_post_comment-text, (2) https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10101674, (3) https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10160333, and (4) https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10366250 to educate yourself on MPC formulations. As a general comment, cost could serve for tracking or regularizing tasks.
2. As you can see in our papers, including Crocoddyl one in https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9196673, the cost is "weighted" and not "hierarchical". In the future, we'll release an advanced solver for handling inequality constraints. Currently, Crocoddyl handles control limits only as hard constraints. Other inequality constraints can be formulated through quadratic penalties.

I hope Crocoddyl helps you in your research. For now, you need to be patient as we'll release our current research works later.

Thanks,
Carlos

from crocoddyl.