Get the current number of threads.

Get the current thread ID.

@copydoc has_cross_term_

Whether the stage's dynamics model can be accessed. This boolean allows flexibility in solvers when dealing with different frontends e.g. Crocoddyl's

required holder implementation

Initialize primal regularization for the inner loop. See sec. 3.1 of the IPOPT paper [Wächter, Biegler 2006] This called before first bwd pass attempt

@brief Interpolation operation.

@brief Invoke callbacks.

@brief Check if this dynamics model is implicit or explicit.

* @brief Determine whether the system is underactuated. * @details This is the case when the actuation matrix rank is lower to the * velocity d

Used in linesearch.