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Restore analytic derivatives in pendulum example #36

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markomiz wants to merge 1 commit into from
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Restore analytic derivatives in pendulum example #36

markomiz wants to merge 1 commit into from

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@markomiz markomiz commented Sep 23, 2025

Summary

  • reinstate analytic stage cost gradients and Hessians aligned with the quadratic weights used in the pendulum swing-up example
  • add terminal cost gradient and Hessian lambdas derived from the terminal penalty
  • connect dynamics Jacobian callbacks to the pendulum model helpers so initialize_problem() retains analytic derivatives

Testing

  • not run (example-only change)

https://chatgpt.com/codex/tasks/task_e_68d2d86a4e94832aa1e06a267e014dcf

@markodlr markodlr closed this Sep 23, 2025
@markomiz markomiz deleted the codex/reinstate-callbacks-and-update-jacobians branch January 8, 2026 17:16
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@markomiz @markodlr