[RTM] Variational integrator

[20chupin]

This change is 

[codecov]

Codecov Report

Patch coverage: 73.27% and project coverage change: -0.18 ⚠️

Comparison is base (2cce426) 81.82% compared to head (f1b68ec) 81.64%.

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #696      +/-   ##
==========================================
- Coverage   81.82%   81.64%   -0.18%     
==========================================
  Files         112      117       +5     
  Lines       12919    13300     +381     
==========================================
+ Hits        10571    10859     +288     
- Misses       2348     2441      +93     

Impacted Files	Coverage Δ
...nics_and_optimal_control/biorbd_model_holonomic.py	56.81% <56.81%> (ø)
...control/example_variational_integrator_pendulum.py	70.27% <70.27%> (ø)
..._integrator_with_holonomic_constraints_pendulum.py	71.79% <71.79%> (ø)
...mal_control/variational_optimal_control_program.py	90.74% <90.74%> (ø)
...es/discrete_mechanics_and_optimal_control/enums.py	100.00% <100.00%> (ø)

... and 8 files with indirect coverage changes

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[pariterre]

Reviewed 9 of 9 files at r2, all commit messages.
Reviewable status: all files reviewed, 2 unresolved discussions (waiting on @20chupin)

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tests/test_variational_integrator_examples.py line 10 at r2 (raw file):

def test_variational_pendulum():

Please add the use_sx = True and false in the configuration

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tests/test_variational_integrator_examples.py line 75 at r2 (raw file):

def test_variational_pendulum_with_holonomic_constraints():

Please add the use_sx = True and false in the configuration

[20chupin]

Reviewable status: 8 of 9 files reviewed, 2 unresolved discussions (waiting on @pariterre)

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tests/test_variational_integrator_examples.py line 10 at r2 (raw file):

Previously, pariterre (Pariterre) wrote…

Please add the use_sx = True and false in the configuration

Done.

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tests/test_variational_integrator_examples.py line 75 at r2 (raw file):

Previously, pariterre (Pariterre) wrote…

Please add the use_sx = True and false in the configuration

Done.

[pariterre]

Reviewed 1 of 1 files at r3, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @20chupin)

[pariterre]

GG @20chupin !