move MPC/LQR example to examples directory

benchmarks/__init__.py

@@ -1,13 +0,0 @@
-# Copyright 2019 Google LLC
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.

examples/control.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 """
-Benchmarks for model-predictive linear control
+Model-predictive non-linear control example.
 """
 
 from __future__ import absolute_import

examples/control_test.py

@@ -25,7 +25,7 @@ from jax import lax
 from jax import test_util as jtu
 import jax.numpy as np
 
-from benchmarks import control
+from examples import control
 
 from jax.config import config
 config.parse_flags_with_absl()
@@ -70,7 +70,7 @@ def one_step_control(dim, T):
   return control.ControlSpec(cost, dynamics, T, dim, dim)
 
 
-class ControlBenchmarkTest(jtu.JaxTestCase):
+class ControlExampleTest(jtu.JaxTestCase):
 
   def testTrajectoryCyclicIntegerCounter(self):
     num_states = 3