Linear Dynamics and Sampling Distribution Unit Tests #1
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- Added unit tests for the linear dynamics
- Make computeLikelihoodRatioCost with Eigen match device version of the method in GaussianDistribution - Add an Eigen version of computeFeedbackCost() in base sampling distribution class - Add Gaussian-specific unit tests to ensure Gaussian distributions are Gaussian as well as ensure that the the number of distributions asked for does not go over the max allowed in the GaussianParams struct - Add generic unit tests for sampling distributions that check that they construct correctly, give access to the same controls on host and device, calculate the same costs between host and device, and ensure that the number of distributions, timesteps and samples can be adjusted.
JasonGibson274
approved these changes
Jul 30, 2025
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This PR adds Linear Dynamics as a possible Dynamics class of the form x_dot = Ax + Bu. In addition, unit tests for both the new dynamics as well as the Sampling Distributions API were added and bugs in Sampling Distributions were fixed as a result