Alex

Installing libceres-dev on ubuntu solves the issue for me. So, probably you should install ceres libs

@tdegeus Sorry for verbosity. Overall here is looping by 3 dimensions, and in first chunk of code i used views to get xarray of points (x, y), and manipulate them,...

Hmm. This sounds weird. It could be that temperature parameter make weighting less cost sensitive, so we just get more random-average values than such that minimize cost function Did you...

I think we need to dig into original papers. This implementation has a lot of invented experimental stuffs.

That's great observation. We should implement this. Definitely high temperature not the greatest way to get smoother trajectory

@SteveMacenski i'll take a look on this and test after reading the paper

What were the reasons for not using torch?

close this temporary till new params tuning iteration

LGTM

Steve, great job! I haven't had much time to dive into the math of the changes lately, but I'll try to look at the version in Nav 2 and figure...