tree 834ea9fa702dd3fb62ffb13de8d1d9b8d24166be
parent a9550c0b62dcfccb17eaa340f947acf8bd486fd8
author Austin Schuh <austin.linux@gmail.com> 1729371418 -0700
committer Austin Schuh <austin.linux@gmail.com> 1729979922 -0700
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Add JAX cost, and test to verify correctness

Turns out there's a bug in the casadi too, so fix that while we are
here.  We were using the unrotated radius for computing the cost
function torque instead of the rotated radius.

Split the MPC code out into a separate file as well to make it easier to
pull into other things.

Change-Id: Iee6c9999fa8b6a91d6963af4edba5cf92a085e9b
Signed-off-by: Austin Schuh <austin.linux@gmail.com>