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Commit 79006ff5 authored by m-guberina's avatar m-guberina
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added support for csqp, and added correct constraints. it's ass. almost... 

added support for csqp, and added correct constraints. it's ass. almost certainly needs to be tuned somehow, but fddp seems to be just fine for our purposes so i won't be exploring this further. the next task is to create an mpc controller
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