Castle-Boy

I also got the error that variable Iyy is not defined. Did there someone else run the module successfully?

Matlab版本必须要是2018b才可以，你看看版本对吗 发自我的iPhone ------------------ Original ------------------ From: zw2012qy ***@***.***> Date: Sun,Jul 16,2023 9:24 PM To: TUMFTM/sim_vehicle_dynamics ***@***.***> Cc: Castle-Boy ***@***.***>, Comment ***@***.***> Subject: Re: [TUMFTM/sim_vehicle_dynamics] Missing variable Iyy (Issue #2) I...

[raw_path.csv](https://github.com/LiJiangnanBit/path_optimizer_ilqr/files/15157710/raw_path.csv) [smoothed_trajectory0429.csv](https://github.com/LiJiangnanBit/path_optimizer_ilqr/files/15157713/smoothed_trajectory0429.csv)

raw path是混合A*规划的轨迹 分为前后两段， smoothed_trajectory是移植的您的算法，我修改了您的demo文件，直接给出了起始点和终止点，然后从csv文件中读取中间的参考点，求解器返回状态未2也就也是coveraged，修改后demo代码如下： #include #include #include #include #include #include #include // #include // #include "modules/planning/open_space/pb_rosmsg-main/common_msgs/nav_msgs/OccupancyGrid.pb.h" // #include #include "modules/planning/open_space/pb_rosmsg-main/common_msgs/geometry_msgs/PointStamped.pb.h" // #include #include "modules/planning/open_space/pb_rosmsg-main/common_msgs/geometry_msgs/PoseWithCovariance.pb.h" // #include // #include // #include...

[raw_path.csv](https://github.com/LiJiangnanBit/path_optimizer_ilqr/files/15215754/raw_path.csv) [smoothed_trajectory1.csv](https://github.com/LiJiangnanBit/path_optimizer_ilqr/files/15215755/smoothed_trajectory1.csv)  

[raw_path2.csv](https://github.com/LiJiangnanBit/path_optimizer_ilqr/files/15215767/raw_path2.csv) [smoothed_trajectory2.csv](https://github.com/LiJiangnanBit/path_optimizer_ilqr/files/15215768/smoothed_trajectory2.csv) 

我分别试了两组混合A*数据，起始点都是 x=3.81 y= 8.0 theta =3.14， 第一组目标终点为 x=1.25 y= 1.345 theta =1.57， 第二组目标终点为 x=10.25 y= 1.345 theta =1.57。图中蓝色的点是混合A*规划的初始路径，红色的是平滑后的路径，第一组平滑后的结果有很大突变，从x=8.7之后就不连续了，第二组好很多，但是theta和y还是有些偏差。