Merge pull request #283 from thowell/sample_gradient_v2

Remove timestep_power

Author: erez-tom

mjpc/planners/sample_gradient/planner.cc

@@ -49,9 +49,6 @@ void SampleGradientPlanner::Initialize(mjModel* model, const Task& task) {
   // task
   this->task = &task;
 
-  // rollout parameters
-  timestep_power = 1.0;
-
   // exploration noise
   noise_exploration = GetNumberOrDefault(0.1, model, "sampling_exploration");
 

mjpc/planners/sample_gradient/planner.h

@@ -122,9 +122,6 @@ class SampleGradientPlanner : public Planner {
   // order of indices of rolled out trajectories, ordered by total return
   std::vector<int> trajectory_order;
 
-  // rollout parameters
-  double timestep_power;
-
   // zero-mean Gaussian noise standard deviation
   double noise_exploration;
   std::vector<double> noise;