timeHorizon 3.0

initType    0 ; 0 = steady state ID, 1 = linear, 2 = integrated with zero control action, 3 = random; 4=zero

ilqr
{
    integrator RK4
    useSensitivityIntegrator false
    discretization Forward_euler
    timeVaryingDiscretization false
    dt 0.005
    K_sim 1
    K_shot 1
    epsilon 0e-6
    max_iterations 50
    fixedHessianCorrection false
    recordSmallestEigenvalue false
    min_cost_improvement 1e-7
    meritFunctionRho 0.0
    maxDefectSum 1e-5
    nThreads 1
    nThreadsEigen 1
    ;locp_solver HPIPM_SOLVER
    locp_solver GNRICCATI_SOLVER
    nlocp_algorithm GNMS
    printSummary true
    debugPrint false


    line_search
    {
        active false ;
        adaptive false ;
        maxIterations 10 ;
        alpha_0 1.0 ;
        n_alpha 0.5 ;
        debugPrint false
    }
}
