Integrate Optimal Embedded Surface Into Planner #19
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Going to start working on this. This wasn't integrated before, because the solution was not robust and quite slow. I think I can fix those issues. If not, my old (slow, bad, high error) implementation will be added, but maybe on an experimental branch. If so, then I'll try to integrate it into the planner in a way that makes sense. |
rland93
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Apr 29, 2022
Added a method to generate optimal surfaces. Right now, there is no API, only an example.
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May 2, 2022
- Added a new OO API for generating surfaces that allows increased speed from "warm start" of the solver, at the expense of increased time to generate the first surface. - Changed the way finite difference constraints were calculated on the sheet. This has increased the robustness of the solver, but we still need to test that.
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May 4, 2022
- Created a function that generates a "ridge" terrain, for easy evaluation of the surface API. - Removed run-as-script stuff from surface.py.
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Leaving this issue open until we have documentation supporting the surface API. |
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This code was originally written as a companion to the research code in c7d5270. Now that the method has been fleshed out, we can integrate it into this repository.
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