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solution vector is empty #170
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Do you get the report |
How could I do that? |
I can invite you to collaborate on my repo. |
All I need is the clone command and instructions for how to reproduce the error . |
Done |
As you asked yesterday: and got that
any ideas??? |
I recently had a shoulder operation and it is still difficult for me to type. In addition, I am tying to solve a problem for work right now. I hope to be able to spend some time on your problem soon. Sorry for the delay. |
No problem. Get well soon. Thank you anyway |
After launching that in separate thread and activating the debug flag of CppAD i got this |
I found the problem in the lower and upper boundaries of the variables exactly in The solver kinda gave the impression that the formulation is well-defined but after analysis, especially by giving succeed in finding the solution even though the solution vector was empty. |
I am trying the following on ROS
`Path modelPredictivePlanning(const Path& initial_path)
{
Path optimized_path = initial_path;
Eigen::Vector3d setting_point;
size_t N = 6;
double dt = 0.05;
const size_t x_start = 0;
const size_t y_start = x_start + N;
const size_t z_start = y_start + N;
const size_t x_dot_start = z_start + N;
const size_t y_dot_start = x_dot_start + N;
const size_t z_dot_start = y_dot_start + N;
const size_t roll_start = z_dot_start + N;
const size_t pitch_start = roll_start + N;
const size_t roll_command_start = pitch_start + N;
const size_t pitch_command_start = roll_command_start + N - 1;
const size_t thrust_command_start = pitch_command_start + N - 1;
}`
However the solution vector in
x
is empty.By the way when I try to extract the error from that empty solution I get
cppad-20180000.0 error from a known source: vector: index greater than or equal vector size Error detected by false result for i < length_ at line 473 in the file /usr/include/cppad/utility/vector.hpp mav_swarm_commander_node: /usr/include/cppad/utility/error_handler.hpp:206: static void CppAD::ErrorHandler::Default(bool, int, const char*, const char*, const char*): Assertion
false' failed.Stack trace (most recent call last):
#19 Object "", at 0xffffffffffffffff, in
#18 Source "/usr/include/c++/11/bits/basic_string.h", line 187, in _start [0x562a223e27a9]
185: pointer
186: _M_data() const
> 187: { return _M_dataplus._M_p; }
188:
189: pointer
190: _M_local_data()
`
Any ideas?
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