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[Feature Request] DDP Implementation

13

I would like to use a very fast C++ library for DDP (differential dynamic programming) but I couldn't find one online. I was hoping the toolbox has it, but I...

acxz

CARE results for high-dim systems seem to differ from the Matlab solution

23

Hi there, I am trying to integrate CT with my program. But I got this error solveSchurDirect() in CARE can only be used if the lapack library is installed on...

GuiyangXin

markusgft

* Fix base Inverse Kinematics Test currently fails in CI * see also pullrequest #77 * test disabled for now

markusgft

Some traits are defined in two different places

1

First occurrence: ct_core (where it should be!) second occurrence: ct/rbd/internal/ ...

markusgft

Incompatible cppad cg code for clang++

2

@jcarius had reported the following: Some configurations* of Clang++ cannot compile parts of the cppad cg code: `/home/USERNAME/catkin_ws/src/ct/ct_core/include/external/cppad/cg/patterns/iter_equation_group.hpp:253:68: error: default initialization of an object of const type 'const std::map' (aka...

markusgft

Dynamic (*.so) JIT-libraries from CppADCG do sometimes not get deleted after destruction

3

old libraries accumulate in workspace

markusgft

Except for the numerical system linearizer, the time or index is ignored => Assumes that the system is not time-dependent.

markusgft

Problem 1: kindr assert-macros in kindr/common. Affected are both assert_macros and assert_macros_eigen. Proposed short-term solution: the assert macros are subject to the "NDEBUG"-flag , which can for example be set...

markusgft

See "convex optimization" by Boyd et al.

markusgft