mpc.pytorch issues

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Add `DiagQuadCost` sugar

Alternatively `QuadCost(q, c, diag=True)`

Add tests for non-quadratic cost

+ [ ] Forward pass without slew rate + [ ] Backward pass without slew rate + [ ] Forward pass with slew rate + [ ] Backward pass with...

bamos

Raise an error if the quadratic part of the cost is not PSD

bamos

Improve the iLQR stopping conditions

+ **Current:** Fixed number of iters or a threshold on the full action step norm + It would also be nice to stop based on the absolute or relative change...

bamos

Clean up tests

bamos

Clean up `detach_maybe` and `data_maybe` uses throughout the library

I also don't like having the `x.requires_grad` conditional in `detach_maybe` since it hides if that tensor is detached or not. \cc @ivandariojr

bamos

[BUG] DEPRECATION: mpc 0.0.4 has a non-standard dependency specifier numpy>=1<2

Hi! I was updating numpy in Python 3.8 and I got the following warning: > DEPRECATION: mpc 0.0.4 has a non-standard dependency specifier numpy>=1

giuseppefilippone

No State Constraints in Mpc Solver

hello mpc.pytorch developer, first of all, mpc.pytorch is an amazing and fast mpc solver. however, i found there is no constraints for states for input of this mpc solver. although...

sichaozhang1112