The main goal of this milestone is to:
- Rewrite all the Python classes into c++ classes.
- Created Python bindings for each c++ classes.
- Rewrite the Python unit-tests into c++ ones.
c++ implementation
After a lot of benchmarking, Crocoddyl will follow a virtualization design based on Eigen. @cmastall is the only responsible for this task.
Python bindings
It's expected to have not changes in the Python API, or at least minimal changes on it. @cmastall is the main responsible for this task but third-hands are welcome.
c++ unit-test
All c++ unit-tests have to reflect the vast quantities of Python test. @mnaveau is taking the lead regarding this task.
All the changes have to be merged into the cpp_devel branch through PR.
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- Status: Open.#289 In loco-3d/crocoddyl;