(self, m, pdpc, pdcc, cdcc, pmc, cmc, cur_res)
Calculate new step size for pi2 and lqr.
        Args:
        m: condition
        pdpc: previous dynamics-previous controller cost
        pdcc: previous dynamics-current controller cost
        cdcc: current dynamics-current controller cost
        pmc: previous actual cost
        cmc: current actual cost
        cur_res:
Calculate new step size for pi2 and lqr.
        Args:
        m: condition
        pdpc: previous dynamics-previous controller cost
        pdcc: previous dynamics-current controller cost
        cdcc: current dynamics-current controller cost
        pmc: previous actual cost
        cmc: current actual cost
        cur_res:
Calculate new step size for pi2 and lqr . Args : m : condition pdpc : previous dynamics - previous controller cost pdcc : previous dynamics - current controller cost cdcc : current dynamics - current controller cost pmc : previous actual cost cmc : current actual cost cur_res :
def _compute_step_pi2_lqr(self, m, pdpc, pdcc, cdcc, pmc, cmc, cur_res):
        """
        Calculate new step size for pi2 and lqr.
        Args:
        m: condition
        pdpc: previous dynamics-previous controller cost
        pdcc: previous dynamics-current controller cost
        cdcc: current dynamics-current controller cost
        pmc: previous actual cost
        cmc: current actual cost
        cur_res:
        """
def _compute_step_pi2_lqr ( self , m , pdpc , pdcc , cdcc , pmc , cmc , cur_res ) :