Possible error in the documentation of DifferentialActionModelAbstractTpl

[lwygzh]

Hi,

I was reading the documentation of DifferentialActionModelAbstractTpl and I think there might be an error within the documentation. When showing what the cost function for DifferentialActionModelAbstractTpl should describe, it shows that

$$l(x, u) = \int_{0}^{\delta_t}{a(r(x, u))}dt$$

I was wondering if the value of l(x, u) in this case should actually be

$$l(x, u) = a(r(x, u))$$

[cmastalli]

Yes, you're right! We integrate the cost function in the integrated action. It would be fantastic if you could help us to improve the documentation.

[lwygzh]

Of course, I would be glad to help! I can do a PR with the updated doc.

Just one question, I think the doc for that specific algorithm is located here, but the content of this docstring is a bit different from what is on the website (probably because the version of crocoddyl on the website is 1.9.0 and the master branch is 2.0+). If that is the case, would it be possible to also update the doc version on the website?