Feature/backup lqoc man ex #131
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| @@ -151,7 +151,8 @@ class DynamicsLinearizerNumDiff | |||
| SCALAR dxp = mlog_ph - m_log.coeffs()(i); | |||
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| t_perturbed = m_log; | |||
| t_perturbed.coeffs()(i) = mlog_ph; | |||
| t_perturbed.set_coeff(i, mlog_ph); // TODO | |||
| //t_perturbed.coeffs()(i) = mlog_ph; | |||
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This needs to be solved cleanly, most likely requires a change in manif.
| sv_[k]/*.noalias()*/ += p.A_[k].transpose() * S_[k + 1] * p.b_[k]; | ||
| sv_[k]/*.noalias()*/ += this->L_[k].transpose() * Hi_[k] * this->lv_[k]; | ||
| sv_[k]/*.noalias()*/ += this->L_[k].transpose() * gv_[k]; | ||
| sv_[k]/*.noalias()*/ += G_[k].transpose() * this->lv_[k]; // TODO: bring back all the noalias() |
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the noalias() must be fixed properly, maybe requires changing manif.
| template <int STATE_DIM, int CONTROL_DIM> | ||
| const ct::core::ControlVectorArray<CONTROL_DIM>& HPIPMInterface<STATE_DIM, CONTROL_DIM>::get_lv() | ||
| template <typename MANIFOLD, int CONTROL_DIM> | ||
| const ct::core::ControlVectorArray<CONTROL_DIM>& HPIPMInterface<MANIFOLD, CONTROL_DIM>::get_lv() |
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TODO: throw an error at compile time if HPIPM is attempted to be built with a non-euclidean manifold
ct_optcon/test/CMakeLists.txt
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| #add_executable(KinematicManifoldLQOCTest solver/linear/KinematicManifoldLQOCTest.cpp) |
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remove those executables from the cmakelist and make them proper unit tests
| @@ -45,14 +45,24 @@ if(BUILD_TESTS) | |||
| message(STATUS "ct_optcon: building unit tests requiring CPPADCG") | |||
| # package_add_test(constraint_comparison constraint/ConstraintComparison.cpp) | |||
| # package_add_test(constraint_test constraint/ConstraintTest.cpp) | |||
| package_add_test(CostFunctionTests costfunction/CostFunctionTests.cpp) | |||
| package_add_test(LoadFromFileTest costfunction/LoadFromFileTest.cpp) | |||
| # package_add_test(CostFunctionTests costfunction/CostFunctionTests.cpp) | |||
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bring back those tests
| @@ -0,0 +1,514 @@ | |||
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abstract the composite manifold classes, move them to an appropriate place
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also check back on the latest developments within manif regarding composite manifolds.
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extend the generic NLOC classes with the novel features and make this a unit test which compares them against the solution below.
L^T * gv + L^T * Hi * lv evaluates to zero
remove unneeded computation
fixed bug concerning hpipm_status display
Fix links to RobCoGen in the readme
…r Python Cmake helpers for Cmake > 3.12
The bins argument must be an integer
Co-authored-by: acxz <17132214+acxz@users.noreply.github.com>
Restore compatibility with with older cmake versions
remove repeated header install line
…trol-toolbox into feature/backup_lqoc_man_ex
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