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Close unit-test milestone #41
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In GitLab by @cmastalli on Dec 3, 2018, 13:35 changed the description |
In GitLab by @cmastalli on Dec 3, 2018, 13:36 For the moment, we have solved the point 1. @nmansard I need that you check a proposed solution for the point 4. |
In GitLab by @cmastalli on Dec 6, 2018, 17:47 mentioned in merge request !29 |
In GitLab by @cmastalli on Dec 6, 2018, 22:54 @nmansard I am not sure if I understand the point 5. How is possible that the control cost is equals to the regularization? For instance the control cost (0.5 * u^T * Q * u^T) has a gradient different to zero (i.e. Q * u), and often this isn't zero in the optimal solution neither. On the other hand, regularization scheme affects only Quu (mu * I), not Qu!. |
In GitLab by @nmansard on Dec 7, 2018, 09:43 Currently working: |
In GitLab by @cmastalli on Dec 7, 2018, 20:57 mentioned in merge request !31 |
In GitLab by @cmastalli on Dec 7, 2018, 20:58 And now working 3. |
In GitLab by @cmastalli on Dec 11, 2018, 18:20 mentioned in merge request !32 |
In GitLab by @cmastalli on Dec 11, 2018, 18:20 At the moment it's missing only the point 6. |
In GitLab by @nmansard on Jan 21, 2019, 15:27 Done. |
In GitLab by @nmansard on Jan 21, 2019, 15:27 closed |
In GitLab by @nmansard on Nov 28, 2018, 09:52
The unit test list should be as follows:
We may also want to add an integrative test with the arm (and later with legged robots), i.e. comparing the numerical results of the test with a reference execution.
Unit-test validation before merge-request, implemented by @nim65s should be active.
When all that points are matched, close the milestone unittest.
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