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MPC linearization option use the previous solution #35

Merged
merged 9 commits into from
Mar 27, 2019
Merged

MPC linearization option use the previous solution #35

merged 9 commits into from
Mar 27, 2019

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avikde
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@avikde avikde commented Mar 27, 2019 •
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Closes #34

Related to #31

  • implement storing the previous trajectory
  • fix bug in using a given traj if x0 is wrong
  • also animate the arrow to visualize better

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avikde commented Mar 27, 2019 •
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From looking at

With linear constraints the only way it can return problem non-convex is from P (not even q)

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avikde commented Mar 27, 2019

Yes, confirmed - the non-convex problem was being caused by updateWeights. Removing it actually resulted in better behavior as well.

@avikde avikde mentioned this pull request Mar 27, 2019
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@avikde avikde merged commit 34ae490 into master Mar 27, 2019
@avikde avikde deleted the mpc-use-prev-sol branch March 27, 2019 13:45
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avikde commented Mar 27, 2019

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ezgif com-video-to-gif (1)

ezgif com-video-to-gif

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MPC use previous solution for trajectory
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