Solve the deterministic finite-horizon optimal control problem with the iLQG (iterative Linear Quadratic Gaussian) or modified DDP (Differential Dynamic Programming) algorithm. Includes two demos, a linear control-constrained problem and a car-parking problem. For details see
Tassa, Mansard and Todorov, 'Control-Limited Differential Dynamic Programming', ICRA 2014
Better printing and diagnostics, added example of user callback.
Fixed bug in calculation of reduction ratio.
Inspired: Belief Space Motion Planning using iLQG
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