10000 Possible error in the documentation of DifferentialActionModelAbstractTpl · Issue #1183 · loco-3d/crocoddyl · GitHub
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Possible error in the documentation of DifferentialActionModelAbstractTpl #1183
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Possible error in the documentation of DifferentialActionModelAbstractTpl#1183
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@lwygzh

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@lwygzh
lwygzh
opened on Nov 16, 2023

Hi,

I was reading the documentation of DifferentialActionModelAbstractTpl and I think there might be an error within the documentation. When showing what the cost function for DifferentialActionModelAbstractTpl should describe, it shows that

$$l(x, u) = \int_{0}^{\delta_t}{a(r(x, u))}dt$$

I was wondering if the value of l(x, u) in this case should actually be

$$l(x, u) = a(r(x, u))$$

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