control-toolbox
control-toolbox copied to clipboard
ethz-adrl
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
Todo: decouple summary computation and retrieval. Note that computing the summary is not for free, so maybe introduce two settings: "computeSummary" and "printSummary".
We use very few kindr-methods only, it may be worth considering dropping the kindr dependency totally. * packages would become more lean * users would not have to install kindr...
It works fine with -DCMAKE_BUILD_TYPE=Relwithdebinfo and Release. * probably coming from DerivativesJIT
Currently, the DMS-package does not distinguish between box constraints of form u_lb
@jcarius had reported the following Many classes use their own typedefs such as `typedef Eigen::Matrix state_matrix_t; ` This will lead to implicit conversions between Eigen::Matrix and ct::core::StateMatrix. Proposed solution As...
the term quadratic of a cost function currently takes non-symmetric matrices. There is probably hardly any use case for this.
On v2.2 @hamzamerzic had reported the following: > > The settings files are quite cluttered and confusing right now. > > Looking at the example in NLOC_MPC example in ct_optcon...
In a prior version, a user reported issues with NLOC-linesearch when using nThreads > 1. It seems that the behaviour was sometimes not deterministic. - [ ] introduce test case...
(avoid iterative solution using the Dynamic Riccati Equation)
@johuber had reported the following for v2.3 When I try to compile with either of the in the explicit_templates.cfg file, several compile errors occur. Config: STATE_DIM=4, CONTROL_DIM=2, POS_DIM=0, VEL_DIM=0, SCALAR=double...