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convex_adjoint_gradient

phyz_diff::contact_adjoint

Function convex_adjoint_gradient 

Source 
pub fn convex_adjoint_gradient(
    rollout: &ConvexContactRollout<'_>,
    objective: &FinalStateObjective<'_>,
) -> Result<ConvexAdjointGradients, ConvexAdjointError>
Expand description

One nominal rollout forward, one adjoint pass backward: J, dJ/dq0, dJ/dv0, dJ/du_t, and dJ/dπ per body — all through the convex contact model the forward simulator integrates.

Errors instead of returning a wrong gradient; see ConvexAdjointError.