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Published 20 hours ago • verified publisher icon mayataka

Terminal constraints

Open mayataka opened this issue 4 years ago • 1 comments

Terminal constraints are often needed to ensure the stability of MPC. Therefore, it is nice if we can design the terminal constraints independently from the constraints on the other time stages. The following classes should be implemented:

  • [ ] TerminalConstraintComponentBase
  • [ ] TerminalJointPositionLowerLimit
  • [ ] TerminalJointPositionUpperLimit
  • [ ] TerminalBasePositionLowerLimit
  • [ ] TerminalBasePositionUpperLimit
  • [ ] TerminalJointVelocityLowerLimit
  • [ ] TerminalJointVelocityUpperLimit
  • [ ] TerminalBaseVelocityLowerLimit
  • [ ] TerminalBaseVelocityUpperLimit

mayataka avatar Jun 01 '21 12:06 mayataka

Low priority

mayataka avatar Nov 10 '21 03:11 mayataka