v0.6.0

Here comes the first working version of this module, following an initial import from pymanoid and refactoring to a functional API.

This module defines a one-stop shop solve_mpc(problem: Problem) -> Solution function. The Problem type defines the linear model predictive control problem (system, constraints, initial state and cost function to optimize) while the Solution holds the resulting state and input trajectories.

Added

• Initial import from pymanoid's mpc.py.
• Humanoid stepping example
• Triple integrator example

Changed

• Extend to time-varying state and input transition matrices