fast-planner with nlopt , nlopt exception

[hcws]

What happened?

I used fast-planner with nlopt and found that sometimes nlopt would not be able to optimize the trajectory output speed and heading Angle to 0, and then there would be no further optimization until I restarted fast-planner， Here is the codes :

How to reproduce the issue?

Here is the Code:


void BsplineOptimizer::optimize() {
  /* initialize solver */
  iter_num_        = 0;
  min_cost_        = std::numeric_limits<double>::max();
  const int pt_num = control_points_.rows();
  g_q_.resize(pt_num);
  g_smoothness_.resize(pt_num);
  g_distance_.resize(pt_num);
  g_feasibility_.resize(pt_num);
  g_endpoint_.resize(pt_num);
  g_waypoints_.resize(pt_num);
  g_guide_.resize(pt_num);

  if (cost_function_ & ENDPOINT) {
    variable_num_ = dim_ * (pt_num - order_);
    // end position used for hard constraint
    end_pt_ = (1 / 6.0) *
        (control_points_.row(pt_num - 3) + 4 * control_points_.row(pt_num - 2) +
         control_points_.row(pt_num - 1));
  } else {
    variable_num_ = max(0, dim_ * (pt_num - 2 * order_)) ;
  }

  /* do optimization using NLopt slover */
  nlopt::opt opt(nlopt::algorithm(isQuadratic() ? algorithm1_ : algorithm2_), variable_num_);
  opt.set_min_objective(BsplineOptimizer::costFunction, this);
  opt.set_maxeval(max_iteration_num_[max_num_id_]);
  opt.set_maxtime(max_iteration_time_[max_time_id_]);
  opt.set_xtol_rel(1e-5);

  vector<double> q(variable_num_);
  for (int i = order_; i < pt_num; ++i) {
    if (!(cost_function_ & ENDPOINT) && i >= pt_num - order_) continue;
    for (int j = 0; j < dim_; j++) {
      q[dim_ * (i - order_) + j] = control_points_(i, j);
    }
  }

  if (dim_ != 1) {
    vector<double> lb(variable_num_), ub(variable_num_);
    const double   bound = 10.0;
    for (int i = 0; i < variable_num_; ++i) {
      lb[i] = q[i] - bound;
      ub[i] = q[i] + bound;
    }
    opt.set_lower_bounds(lb);
    opt.set_upper_bounds(ub);
  }

  try {
    // cout << fixed << setprecision(7);
    // vec_time_.clear();
    // vec_cost_.clear();
    // time_start_ = ros::Time::now();

    double        final_cost;
    nlopt::result result = opt.optimize(q, final_cost);

    /* retrieve the optimization result */
    // cout << "Min cost:" << min_cost_ << endl;
  } catch (std::exception& e) {
    ROS_WARN("[Optimization]: nlopt exception");
    cout << e.what() << endl;
  }

  for (int i = order_; i < control_points_.rows(); ++i) {
    if (!(cost_function_ & ENDPOINT) && i >= pt_num - order_) continue;
    for (int j = 0; j < dim_; j++) {
      control_points_(i, j) = best_variable_[dim_ * (i - order_) + j];
    }
  }

  if (!(cost_function_ & GUIDE)) ROS_INFO_STREAM("iter num: " << iter_num_);
}

Version

nlopt v2.7.1:

Operating System

unknown

Installation media

other

Additional Context

fast-planner with nlopt : Here is the link https://github.com/HKUST-Aerial-Robotics/Fast-Planner /Fast-Planner/fast_planner/bspline_opt/src/bspline_optimizer.cpp

[jschueller]

maybe you can extract a standalone minimal non-working example from this, else it will be hard to reproduce