Implementations of the iLQR algorithm
Based on "Control Limited Differential Dynamic Programming" Tassa, Yuval, Nicolas Mansard, and Emo Todorov, ICRA 2014. Building on Yuval Tassa's implementation here: http://www.mathworks.com/matlabcentral/fileexchange/52069-ilqg-ddp-trajectory-optimization
See here for an intuitive explanation: https://studywolf.wordpress.com/2016/02/03/the-iterative-linear-quadratic-regulator-method/