-
Notifications
You must be signed in to change notification settings - Fork 309
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Feature/backup lqoc man ex #131
base: v3.0.3-devel
Are you sure you want to change the base?
Conversation
@@ -151,7 +151,8 @@ class DynamicsLinearizerNumDiff | |||
SCALAR dxp = mlog_ph - m_log.coeffs()(i); | |||
|
|||
t_perturbed = m_log; | |||
t_perturbed.coeffs()(i) = mlog_ph; | |||
t_perturbed.set_coeff(i, mlog_ph); // TODO | |||
//t_perturbed.coeffs()(i) = mlog_ph; |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
This needs to be solved cleanly, most likely requires a change in manif.
sv_[k]/*.noalias()*/ += p.A_[k].transpose() * S_[k + 1] * p.b_[k]; | ||
sv_[k]/*.noalias()*/ += this->L_[k].transpose() * Hi_[k] * this->lv_[k]; | ||
sv_[k]/*.noalias()*/ += this->L_[k].transpose() * gv_[k]; | ||
sv_[k]/*.noalias()*/ += G_[k].transpose() * this->lv_[k]; // TODO: bring back all the noalias() |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
the noalias() must be fixed properly, maybe requires changing manif.
template <int STATE_DIM, int CONTROL_DIM> | ||
const ct::core::ControlVectorArray<CONTROL_DIM>& HPIPMInterface<STATE_DIM, CONTROL_DIM>::get_lv() | ||
template <typename MANIFOLD, int CONTROL_DIM> | ||
const ct::core::ControlVectorArray<CONTROL_DIM>& HPIPMInterface<MANIFOLD, CONTROL_DIM>::get_lv() |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
TODO: throw an error at compile time if HPIPM is attempted to be built with a non-euclidean manifold
ct_optcon/test/CMakeLists.txt
Outdated
|
||
#add_executable(KinematicManifoldLQOCTest solver/linear/KinematicManifoldLQOCTest.cpp) |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
remove those executables from the cmakelist and make them proper unit tests
@@ -45,14 +45,24 @@ if(BUILD_TESTS) | |||
message(STATUS "ct_optcon: building unit tests requiring CPPADCG") | |||
# package_add_test(constraint_comparison constraint/ConstraintComparison.cpp) | |||
# package_add_test(constraint_test constraint/ConstraintTest.cpp) | |||
package_add_test(CostFunctionTests costfunction/CostFunctionTests.cpp) | |||
package_add_test(LoadFromFileTest costfunction/LoadFromFileTest.cpp) | |||
# package_add_test(CostFunctionTests costfunction/CostFunctionTests.cpp) |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
bring back those tests
@@ -0,0 +1,514 @@ | |||
|
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
abstract the composite manifold classes, move them to an appropriate place
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
also check back on the latest developments within manif regarding composite manifolds.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
extend the generic NLOC classes with the novel features and make this a unit test which compares them against the solution below.
L^T * gv + L^T * Hi * lv evaluates to zero
remove unneeded computation
fixed bug concerning hpipm_status display
Fix links to RobCoGen in the readme
…r Python Cmake helpers for Cmake > 3.12
The bins argument must be an integer
Co-authored-by: acxz <17132214+acxz@users.noreply.github.com>
Restore compatibility with with older cmake versions
remove repeated header install line
…trol-toolbox into feature/backup_lqoc_man_ex
No description provided.