control-toolbox
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ethz-adrl
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
Hi! I've hit a problem trying to generate the RobCoGen files. At first I got everything to generate fine, but I was using 0.5.2, which caused issues as the tpl...
Hi, I just wondered are the .urdf models provided in the control_toolbox/ct_models/urdf/ directory can be converted to .kindsl models successfully by using the urdf2robcogen ros package? I have tried both...
I am following the ct rbd tutorial to generate code for Fancy robot, whose .kindsl and .tdtsl files are provided in the robcogen. When I am instantiating my robot system...
When I was following the instructions to generate cpp code for Kinova 6-axis robot, it always fails when generating the jacobians.cpp. I wander is this caused by the long processing...
Is this ct package take lagged state and control input into consideration when calculating the derivative/Jacobian? Because our system ODE has 15 lag sizes for state and control input, I'm...
I want to model the general constraint of MPC. If I model the mpc constraint, f(x,n)
Hi, my goal is to find an endeffector position, which is feasible and as close as possible to the target position. I am wondering, if the results I get are...
@jcarius has reported the following: The method `void push_back(const T& data, const SCALAR& time, const bool timeIsAbsolute)` is unsafe in DiscreteTrajectoryBase: if the user specifies `timeIsAbsolute=false`, access to `time_.back()` might...
I have a few questions regarding the Taskspace costfunction term you provide in the rbd module: https://github.com/ethz-adrl/control-toolbox/blob/v3.0.2/ct_rbd/include/ct/rbd/robot/costfunction/TermTaskspaceGeometricJacobian.hpp especially concerning the analytical derivatives. 1. In the `stateDerivative` method you use the...
Thanks for developing this great toolbox! Besides its control functionalities, by utilizing eigen, cppad and cppadcg, the library serves as a perfect NLP framework! I use the toolbox to solve...
