Markus Giftthaler

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...

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

3

old libraries accumulate in workspace

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

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...

See "convex optimization" by Boyd et al.

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...

TermTaskSpaceCG segfaults when compiled with -DCMAKE_BUILD_TYPE=Debug

1

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...