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Package Summary

Tags No category tags.
Version 0.1.15
License Apache License 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2019-07-24
Dev Status DEVELOPED
Released RELEASED

Package Description

eus_qp is an interface of euslisp to solve qp problems with linear constraints.

Additional Links

No additional links.

Maintainers

  • Noda Shintaro

Authors

No additional authors.

eus_qp

Features

  • QP and optimization library and Euslisp bindings
  • Euslisp libraries using optimization

QP and optimization library and Euslisp bindings

Euslisp libraries using optimization

  • Contact optimization
    • Calculation function for wrench and torque distribution.
    • Define classes to represent contact
  • Model predictive control
    • MPC base class
    • MPC for COM motion generation
  • CFR and CWC calculation
    • Calculate functions for CFR (Static or Dynamic COM Feasible Region, ZMP, ...) using LP etc
    • Utilities using optimization
  • Tests
    • euslisp/test-**.l are samples and tests for above codes.
    • These test codes are tested as rostest in test/test_*.l and test/test_*.test.
CHANGELOG

Changelog for package eus_qp

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

  • [eus_qp/euslisp/test-model-predictive-control.l] Add walking example by footstep list (#682)
  • Contributors: Shunichi Nozawa

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

0.1.11 (2017-02-09)

  • [eus_qp/README.md] Add readme for eus_qp and euslisp programs.
  • [eus_qp/euslisp/cfr-cwc-calculation.l] Use obj env constraint in calc-dynamic-min-max-cog-pos
  • [eus_qp/euslisp/cfr-cwc-calculation.l] Remove unused argument for calc-constraint-matrix-vector-for-obj-env-constraint
  • Contributors: Shunichi Nozawa

0.1.10 (2016-12-15)

  • package.xml : remove unnecessary space within name tag
  • eus_qp : add missing install directory
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] support rotational sliding in default-contact-constraint.
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] add rotational-sliding-contact constraint class and calc-constraint-param-list-for-rotational-sliding function.
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] use :fx, :-fx instead of :x, :-x.
  • [test/test_cfr_cwc_calculation.l] Check version of jskeus for old deb installed environment (like hydro travis)
  • [eus_qp/*/*cfr-cwc-calculation*, eus_qp/CMakeLists.txt] Add cfr and cwc calculation.
  • [eus_qp/euslisp/model-predictive-control.l] Enable to add additional-inequality-matrix and additional-inequality-min-vector for MPC COG parameters
  • [eus_qp/euslisp/contact-optimization.l] Add additional-inequality-matrix and additional-inequality-min-vector
  • [eus_qp/euslisp/test-contact-wrench-opt.l,eus_qp/test/test_contact_wrench_opt.l] Add test for cop polygon and friction polycone constraint.
  • [eus_qp/euslisp/contact-optimization] Add linearlized polycone friction constraint
  • [eus_qp/euslisp/model-predictive-control.l] Just fix indent
  • [eus_qp/euslisp, eus_qp/test] Add skip count for receding horizon proc count and update tests.
  • [eus_qp/euslisp/contact-optimization.l] print message of too large equality error only when debug is true.
  • [eus_qp/euslisp/model-predictive-control.l] Add argument to switch solve-qp-mode for qpoases
  • [eus_qp/euslisp/contact-optimization.l] Enable to set solve-qp-mode. Default value is same as solve-qpoases-qp function
  • [eus_qp/euslisp/test-contact-wrench-opt.l] Add test for use equality-error-weight
  • [eus_qp/euslisp/contact-optimization.l] Add argument to support equality error.
  • [eus_qp/euslisp/contact-optimization.l] add :gen-drawing-object method to 6d-min-max-contact-constraint
  • Merge pull request #574 from mmurooka/poly-cop [eus_qp/euslisp] add polygon-cop-contact-constraint
  • [eus_qp/euslisp/contact-optimization.l, test-contact-wrench-opt.l, eus_qp/test/test_contact_wrench_opt.l] Add function to calculate wrench from given wrench. Currently calculation with contact constraints does not work.
  • [euslisp/contact-optimization.l] add argument contact-face to default-contact-constraint.
  • [euslisp/test-contact-wrench-opt.l] add test for polygon-cop-contact-constraint.
  • [euslisp/contact-optimization.l] add class and function for polygon-cop-contact-constraint.
  • Contributors: Kei Okada, Masaki Murooka, Shunichi Nozawa

0.1.9 (2016-03-23)

  • Merge pull request #565 from mmurooka/6d-minmax-constraint [eus_qp/euslisp] add 6d-min-max-contact-constraint class and test
  • [eus_qp/euslisp] pass debug option to qp solve function.
  • [eus_qp/euslisp] add 6d-min-max-contact-constraint class and test for that.
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] Add contact constraint for hand gripper and add example.
  • [eus_qp/euslisp/contact-optimization.l, test-contact-wrench-opt.l] Add mu-margin-ration and cop-margin-ratio. Add example for these parameters.
  • [eus_qp/euslisp/contact-optimization.l] Fix updating of drawing object newcoords. If initialize, update coords.
  • [eus_qp/euslisp/contact-optimization.l] Generate drawing object when drawing (https://github.com/jsk-ros-pkg/jsk_control/pull/558).
  • [eus_qp/euslisp/contact-optimization.l] Enable to set jacobi from arg.
  • [eus_qp/CMakeLists.txt, package.xml, src/qp_lib.cpp] Revert Eigen usage hack by garaemon, because we can build this program on travis without this hack (https://github.com/jsk-ros-pkg/jsk_control/commit/4937ac04d0c1beceb8c4c92eac258c00549943f9)
  • [eus_qp/euslisp/contact-optimization.l] Just fix indent.
  • [eus_qp/euslisp/contact-optimization.l] Add max fz if necessary
  • [eus_qp/euslisp/model-predictive-control.l] Fix typos in MPC drift and output ports.
  • [eus_qp/euslisp/model-predictive-control.l,test-model-predictive-control.l] Update mpc to fix calculation for drift and output matrices
  • [eus_qp/test/test_model_predictive_control.test] Increase time-limit for MPC rostest
  • [eus_qp/euslisp/contact-optimization.l] Define concatenate matrix function for old euslisp environment.
  • [eus_qp/euslisp/test-model-predictive-control.l] Update for IK default argument for MPC examples.
  • [eus_qp/euslisp/contact-optimization.l] Moved concatenate matrix functions to jskeus (https://github.com/euslisp/jskeus/commit/5b1cf86398c4688f41c6ec654c00059e5cbd7bca)
  • [eus_qp/CMakeLists.txt] Add eus_qp MPC test for cmake rostest.
  • Contributors: Shunichi Nozawa, Masaki Murooka

0.1.8 (2015-11-02)

  • Merge pull request #512 from k-okada/fix_error package.xml: add rostest to build_depend of eus_qp
  • package.xml: add rostest to build_depend of eus_qp
  • Contributors: Kei Okada

0.1.7 (2015-11-01)

  • [3rdparty/eiquadprog.hpp] using std::abs instead of internal::abs
  • CMakeLists.txt: using test as execute name may confuse system
  • [eus_qp/euslisp/model-predictive-control.l] Support output variables in evaluation
  • [eus_qp/euslisp/model-predictive-control.l] Return world input value (wrench)
  • [eus_qp/euslisp/contact-optimization.l, model-predictive-control.l, test-model-predictive-control.l] Fix bug of mpc inequality-matrix contact coords and update samples
  • [eus_qp/euslisp/model-predictive-control.l, test/test_model_predictive_control., CMakeLists.txt] Add model predictive control from Nagasaka\'2012 and add examples and tests.
  • [eus_qp/euslisp/contact-optimization.l, eus_qp/euslisp/test-contact-wrench-opt.l] Add no-contact constraint and tests
  • [../../eus_qp/euslisp/contact-optimization.l,test-eus-qpoases.l,eus-qpoases.l] Rename solve-qpoases => solve-qpoases-qp and remain solve-qpoases for backward compatibility with warning.
  • Remove manifest.xml and Makefile and use catkin style filesystem
  • Rename samplerobot demo function add infeasible sample. Add to rostest.
  • Do not use immediate value for max demo function num
  • Add test for force min violation
  • Add inequality constraint violation mode if user set min-inequality-violation-weight.
  • add sample for testing sliding contact constraint
  • add translational sliding constraint to contact-optimization.l
  • Add min-max constraint
  • Use contact-constraint-vector-list
  • Update test for test-contact-wrench-opt.l
  • Add demo programe for all contact constraints
  • Rename friction contact constraint
  • Add constraint vector and use constraint-matrix slots variable
  • Fix order of drawing
  • Fix force color
  • Add test for wrench contact application
  • Add contact optimization application using euslisp qp calculation
  • Contributors: Kei Okada, Ryohei Ueda, Shunichi Nozawa, Masaki Murooka

0.1.6 (2015-06-11)

  • [eus_qp] Fix for indigo. Eigen3 on indigo may not provide Eigen::internal::sqrt Eigen::internal::abs, in order to provide them, we define these function in qp_lib.cpp before including qp stuff.

0.1.5 (2015-01-08)

0.1.4 (2014-10-21)

  • add eigen to depend

0.1.3 (2014-10-10)

0.1.2 (2014-09-08)

  • eigen is no longer ros package
  • add catkin_package()
  • Contributors: Kei Okada

0.1.1 (2014-09-04)

  • use find_package(catkin COMPONENTS cmake_modules)
  • add dependancies of euslisp and eigen
  • bag fix load-library functions
  • fix eiquadprog.l, plugin load from LD_LIBRARY_PATH
  • add package.xml,
  • add solve-eiquadprog-raw-with-error function, solve qp with error tolerance, usage=solve-eiquadprog :eiquadprog-function \'solve-eiquadprog-raw-with-error,
  • bug fix of check_constraints function, args order change
  • eq constraints check fix, but this is unbeliabable mistake, why it could be move?
  • returns nil if eiquadprog is not solved
  • fix args for qp_lib.cpp change
  • add some comment, and constrants check result set in global value flag
  • add constraints check functions
  • remove unused comment
  • fix debug mode stop the main functino
  • rename state variable name from f0
  • rename eq -> equality , non-eq -> inequality
  • fix typo ;; min->max
  • .l bug fix, eq constraints mean CEx + ce = 0
  • fix test function, plus minus changed
  • add Makefile
  • add eus_qp dir, solve qp problem with euslisp, use eigenquadprog library
  • Contributors: Shintaro Noda, Shunichi Nozawa

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
eigen

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged eus_qp at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.1.15
License Apache License 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2019-07-24
Dev Status DEVELOPED
Released RELEASED

Package Description

eus_qp is an interface of euslisp to solve qp problems with linear constraints.

Additional Links

No additional links.

Maintainers

  • Noda Shintaro

Authors

No additional authors.

eus_qp

Features

  • QP and optimization library and Euslisp bindings
  • Euslisp libraries using optimization

QP and optimization library and Euslisp bindings

Euslisp libraries using optimization

  • Contact optimization
    • Calculation function for wrench and torque distribution.
    • Define classes to represent contact
  • Model predictive control
    • MPC base class
    • MPC for COM motion generation
  • CFR and CWC calculation
    • Calculate functions for CFR (Static or Dynamic COM Feasible Region, ZMP, ...) using LP etc
    • Utilities using optimization
  • Tests
    • euslisp/test-**.l are samples and tests for above codes.
    • These test codes are tested as rostest in test/test_*.l and test/test_*.test.
CHANGELOG

Changelog for package eus_qp

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

  • [eus_qp/euslisp/test-model-predictive-control.l] Add walking example by footstep list (#682)
  • Contributors: Shunichi Nozawa

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

0.1.11 (2017-02-09)

  • [eus_qp/README.md] Add readme for eus_qp and euslisp programs.
  • [eus_qp/euslisp/cfr-cwc-calculation.l] Use obj env constraint in calc-dynamic-min-max-cog-pos
  • [eus_qp/euslisp/cfr-cwc-calculation.l] Remove unused argument for calc-constraint-matrix-vector-for-obj-env-constraint
  • Contributors: Shunichi Nozawa

0.1.10 (2016-12-15)

  • package.xml : remove unnecessary space within name tag
  • eus_qp : add missing install directory
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] support rotational sliding in default-contact-constraint.
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] add rotational-sliding-contact constraint class and calc-constraint-param-list-for-rotational-sliding function.
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] use :fx, :-fx instead of :x, :-x.
  • [test/test_cfr_cwc_calculation.l] Check version of jskeus for old deb installed environment (like hydro travis)
  • [eus_qp/*/*cfr-cwc-calculation*, eus_qp/CMakeLists.txt] Add cfr and cwc calculation.
  • [eus_qp/euslisp/model-predictive-control.l] Enable to add additional-inequality-matrix and additional-inequality-min-vector for MPC COG parameters
  • [eus_qp/euslisp/contact-optimization.l] Add additional-inequality-matrix and additional-inequality-min-vector
  • [eus_qp/euslisp/test-contact-wrench-opt.l,eus_qp/test/test_contact_wrench_opt.l] Add test for cop polygon and friction polycone constraint.
  • [eus_qp/euslisp/contact-optimization] Add linearlized polycone friction constraint
  • [eus_qp/euslisp/model-predictive-control.l] Just fix indent
  • [eus_qp/euslisp, eus_qp/test] Add skip count for receding horizon proc count and update tests.
  • [eus_qp/euslisp/contact-optimization.l] print message of too large equality error only when debug is true.
  • [eus_qp/euslisp/model-predictive-control.l] Add argument to switch solve-qp-mode for qpoases
  • [eus_qp/euslisp/contact-optimization.l] Enable to set solve-qp-mode. Default value is same as solve-qpoases-qp function
  • [eus_qp/euslisp/test-contact-wrench-opt.l] Add test for use equality-error-weight
  • [eus_qp/euslisp/contact-optimization.l] Add argument to support equality error.
  • [eus_qp/euslisp/contact-optimization.l] add :gen-drawing-object method to 6d-min-max-contact-constraint
  • Merge pull request #574 from mmurooka/poly-cop [eus_qp/euslisp] add polygon-cop-contact-constraint
  • [eus_qp/euslisp/contact-optimization.l, test-contact-wrench-opt.l, eus_qp/test/test_contact_wrench_opt.l] Add function to calculate wrench from given wrench. Currently calculation with contact constraints does not work.
  • [euslisp/contact-optimization.l] add argument contact-face to default-contact-constraint.
  • [euslisp/test-contact-wrench-opt.l] add test for polygon-cop-contact-constraint.
  • [euslisp/contact-optimization.l] add class and function for polygon-cop-contact-constraint.
  • Contributors: Kei Okada, Masaki Murooka, Shunichi Nozawa

0.1.9 (2016-03-23)

  • Merge pull request #565 from mmurooka/6d-minmax-constraint [eus_qp/euslisp] add 6d-min-max-contact-constraint class and test
  • [eus_qp/euslisp] pass debug option to qp solve function.
  • [eus_qp/euslisp] add 6d-min-max-contact-constraint class and test for that.
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] Add contact constraint for hand gripper and add example.
  • [eus_qp/euslisp/contact-optimization.l, test-contact-wrench-opt.l] Add mu-margin-ration and cop-margin-ratio. Add example for these parameters.
  • [eus_qp/euslisp/contact-optimization.l] Fix updating of drawing object newcoords. If initialize, update coords.
  • [eus_qp/euslisp/contact-optimization.l] Generate drawing object when drawing (https://github.com/jsk-ros-pkg/jsk_control/pull/558).
  • [eus_qp/euslisp/contact-optimization.l] Enable to set jacobi from arg.
  • [eus_qp/CMakeLists.txt, package.xml, src/qp_lib.cpp] Revert Eigen usage hack by garaemon, because we can build this program on travis without this hack (https://github.com/jsk-ros-pkg/jsk_control/commit/4937ac04d0c1beceb8c4c92eac258c00549943f9)
  • [eus_qp/euslisp/contact-optimization.l] Just fix indent.
  • [eus_qp/euslisp/contact-optimization.l] Add max fz if necessary
  • [eus_qp/euslisp/model-predictive-control.l] Fix typos in MPC drift and output ports.
  • [eus_qp/euslisp/model-predictive-control.l,test-model-predictive-control.l] Update mpc to fix calculation for drift and output matrices
  • [eus_qp/test/test_model_predictive_control.test] Increase time-limit for MPC rostest
  • [eus_qp/euslisp/contact-optimization.l] Define concatenate matrix function for old euslisp environment.
  • [eus_qp/euslisp/test-model-predictive-control.l] Update for IK default argument for MPC examples.
  • [eus_qp/euslisp/contact-optimization.l] Moved concatenate matrix functions to jskeus (https://github.com/euslisp/jskeus/commit/5b1cf86398c4688f41c6ec654c00059e5cbd7bca)
  • [eus_qp/CMakeLists.txt] Add eus_qp MPC test for cmake rostest.
  • Contributors: Shunichi Nozawa, Masaki Murooka

0.1.8 (2015-11-02)

  • Merge pull request #512 from k-okada/fix_error package.xml: add rostest to build_depend of eus_qp
  • package.xml: add rostest to build_depend of eus_qp
  • Contributors: Kei Okada

0.1.7 (2015-11-01)

  • [3rdparty/eiquadprog.hpp] using std::abs instead of internal::abs
  • CMakeLists.txt: using test as execute name may confuse system
  • [eus_qp/euslisp/model-predictive-control.l] Support output variables in evaluation
  • [eus_qp/euslisp/model-predictive-control.l] Return world input value (wrench)
  • [eus_qp/euslisp/contact-optimization.l, model-predictive-control.l, test-model-predictive-control.l] Fix bug of mpc inequality-matrix contact coords and update samples
  • [eus_qp/euslisp/model-predictive-control.l, test/test_model_predictive_control., CMakeLists.txt] Add model predictive control from Nagasaka\'2012 and add examples and tests.
  • [eus_qp/euslisp/contact-optimization.l, eus_qp/euslisp/test-contact-wrench-opt.l] Add no-contact constraint and tests
  • [../../eus_qp/euslisp/contact-optimization.l,test-eus-qpoases.l,eus-qpoases.l] Rename solve-qpoases => solve-qpoases-qp and remain solve-qpoases for backward compatibility with warning.
  • Remove manifest.xml and Makefile and use catkin style filesystem
  • Rename samplerobot demo function add infeasible sample. Add to rostest.
  • Do not use immediate value for max demo function num
  • Add test for force min violation
  • Add inequality constraint violation mode if user set min-inequality-violation-weight.
  • add sample for testing sliding contact constraint
  • add translational sliding constraint to contact-optimization.l
  • Add min-max constraint
  • Use contact-constraint-vector-list
  • Update test for test-contact-wrench-opt.l
  • Add demo programe for all contact constraints
  • Rename friction contact constraint
  • Add constraint vector and use constraint-matrix slots variable
  • Fix order of drawing
  • Fix force color
  • Add test for wrench contact application
  • Add contact optimization application using euslisp qp calculation
  • Contributors: Kei Okada, Ryohei Ueda, Shunichi Nozawa, Masaki Murooka

0.1.6 (2015-06-11)

  • [eus_qp] Fix for indigo. Eigen3 on indigo may not provide Eigen::internal::sqrt Eigen::internal::abs, in order to provide them, we define these function in qp_lib.cpp before including qp stuff.

0.1.5 (2015-01-08)

0.1.4 (2014-10-21)

  • add eigen to depend

0.1.3 (2014-10-10)

0.1.2 (2014-09-08)

  • eigen is no longer ros package
  • add catkin_package()
  • Contributors: Kei Okada

0.1.1 (2014-09-04)

  • use find_package(catkin COMPONENTS cmake_modules)
  • add dependancies of euslisp and eigen
  • bag fix load-library functions
  • fix eiquadprog.l, plugin load from LD_LIBRARY_PATH
  • add package.xml,
  • add solve-eiquadprog-raw-with-error function, solve qp with error tolerance, usage=solve-eiquadprog :eiquadprog-function \'solve-eiquadprog-raw-with-error,
  • bug fix of check_constraints function, args order change
  • eq constraints check fix, but this is unbeliabable mistake, why it could be move?
  • returns nil if eiquadprog is not solved
  • fix args for qp_lib.cpp change
  • add some comment, and constrants check result set in global value flag
  • add constraints check functions
  • remove unused comment
  • fix debug mode stop the main functino
  • rename state variable name from f0
  • rename eq -> equality , non-eq -> inequality
  • fix typo ;; min->max
  • .l bug fix, eq constraints mean CEx + ce = 0
  • fix test function, plus minus changed
  • add Makefile
  • add eus_qp dir, solve qp problem with euslisp, use eigenquadprog library
  • Contributors: Shintaro Noda, Shunichi Nozawa

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
eigen

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged eus_qp at answers.ros.org

Package Summary

Tags No category tags.
Version 0.1.15
License Apache License 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2019-07-24
Dev Status DEVELOPED
Released RELEASED

Package Description

eus_qp is an interface of euslisp to solve qp problems with linear constraints.

Additional Links

No additional links.

Maintainers

  • Noda Shintaro

Authors

No additional authors.

eus_qp

Features

  • QP and optimization library and Euslisp bindings
  • Euslisp libraries using optimization

QP and optimization library and Euslisp bindings

Euslisp libraries using optimization

  • Contact optimization
    • Calculation function for wrench and torque distribution.
    • Define classes to represent contact
  • Model predictive control
    • MPC base class
    • MPC for COM motion generation
  • CFR and CWC calculation
    • Calculate functions for CFR (Static or Dynamic COM Feasible Region, ZMP, ...) using LP etc
    • Utilities using optimization
  • Tests
    • euslisp/test-**.l are samples and tests for above codes.
    • These test codes are tested as rostest in test/test_*.l and test/test_*.test.
CHANGELOG

Changelog for package eus_qp

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

  • [eus_qp/euslisp/test-model-predictive-control.l] Add walking example by footstep list (#682)
  • Contributors: Shunichi Nozawa

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

0.1.11 (2017-02-09)

  • [eus_qp/README.md] Add readme for eus_qp and euslisp programs.
  • [eus_qp/euslisp/cfr-cwc-calculation.l] Use obj env constraint in calc-dynamic-min-max-cog-pos
  • [eus_qp/euslisp/cfr-cwc-calculation.l] Remove unused argument for calc-constraint-matrix-vector-for-obj-env-constraint
  • Contributors: Shunichi Nozawa

0.1.10 (2016-12-15)

  • package.xml : remove unnecessary space within name tag
  • eus_qp : add missing install directory
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] support rotational sliding in default-contact-constraint.
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] add rotational-sliding-contact constraint class and calc-constraint-param-list-for-rotational-sliding function.
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] use :fx, :-fx instead of :x, :-x.
  • [test/test_cfr_cwc_calculation.l] Check version of jskeus for old deb installed environment (like hydro travis)
  • [eus_qp/*/*cfr-cwc-calculation*, eus_qp/CMakeLists.txt] Add cfr and cwc calculation.
  • [eus_qp/euslisp/model-predictive-control.l] Enable to add additional-inequality-matrix and additional-inequality-min-vector for MPC COG parameters
  • [eus_qp/euslisp/contact-optimization.l] Add additional-inequality-matrix and additional-inequality-min-vector
  • [eus_qp/euslisp/test-contact-wrench-opt.l,eus_qp/test/test_contact_wrench_opt.l] Add test for cop polygon and friction polycone constraint.
  • [eus_qp/euslisp/contact-optimization] Add linearlized polycone friction constraint
  • [eus_qp/euslisp/model-predictive-control.l] Just fix indent
  • [eus_qp/euslisp, eus_qp/test] Add skip count for receding horizon proc count and update tests.
  • [eus_qp/euslisp/contact-optimization.l] print message of too large equality error only when debug is true.
  • [eus_qp/euslisp/model-predictive-control.l] Add argument to switch solve-qp-mode for qpoases
  • [eus_qp/euslisp/contact-optimization.l] Enable to set solve-qp-mode. Default value is same as solve-qpoases-qp function
  • [eus_qp/euslisp/test-contact-wrench-opt.l] Add test for use equality-error-weight
  • [eus_qp/euslisp/contact-optimization.l] Add argument to support equality error.
  • [eus_qp/euslisp/contact-optimization.l] add :gen-drawing-object method to 6d-min-max-contact-constraint
  • Merge pull request #574 from mmurooka/poly-cop [eus_qp/euslisp] add polygon-cop-contact-constraint
  • [eus_qp/euslisp/contact-optimization.l, test-contact-wrench-opt.l, eus_qp/test/test_contact_wrench_opt.l] Add function to calculate wrench from given wrench. Currently calculation with contact constraints does not work.
  • [euslisp/contact-optimization.l] add argument contact-face to default-contact-constraint.
  • [euslisp/test-contact-wrench-opt.l] add test for polygon-cop-contact-constraint.
  • [euslisp/contact-optimization.l] add class and function for polygon-cop-contact-constraint.
  • Contributors: Kei Okada, Masaki Murooka, Shunichi Nozawa

0.1.9 (2016-03-23)

  • Merge pull request #565 from mmurooka/6d-minmax-constraint [eus_qp/euslisp] add 6d-min-max-contact-constraint class and test
  • [eus_qp/euslisp] pass debug option to qp solve function.
  • [eus_qp/euslisp] add 6d-min-max-contact-constraint class and test for that.
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] Add contact constraint for hand gripper and add example.
  • [eus_qp/euslisp/contact-optimization.l, test-contact-wrench-opt.l] Add mu-margin-ration and cop-margin-ratio. Add example for these parameters.
  • [eus_qp/euslisp/contact-optimization.l] Fix updating of drawing object newcoords. If initialize, update coords.
  • [eus_qp/euslisp/contact-optimization.l] Generate drawing object when drawing (https://github.com/jsk-ros-pkg/jsk_control/pull/558).
  • [eus_qp/euslisp/contact-optimization.l] Enable to set jacobi from arg.
  • [eus_qp/CMakeLists.txt, package.xml, src/qp_lib.cpp] Revert Eigen usage hack by garaemon, because we can build this program on travis without this hack (https://github.com/jsk-ros-pkg/jsk_control/commit/4937ac04d0c1beceb8c4c92eac258c00549943f9)
  • [eus_qp/euslisp/contact-optimization.l] Just fix indent.
  • [eus_qp/euslisp/contact-optimization.l] Add max fz if necessary
  • [eus_qp/euslisp/model-predictive-control.l] Fix typos in MPC drift and output ports.
  • [eus_qp/euslisp/model-predictive-control.l,test-model-predictive-control.l] Update mpc to fix calculation for drift and output matrices
  • [eus_qp/test/test_model_predictive_control.test] Increase time-limit for MPC rostest
  • [eus_qp/euslisp/contact-optimization.l] Define concatenate matrix function for old euslisp environment.
  • [eus_qp/euslisp/test-model-predictive-control.l] Update for IK default argument for MPC examples.
  • [eus_qp/euslisp/contact-optimization.l] Moved concatenate matrix functions to jskeus (https://github.com/euslisp/jskeus/commit/5b1cf86398c4688f41c6ec654c00059e5cbd7bca)
  • [eus_qp/CMakeLists.txt] Add eus_qp MPC test for cmake rostest.
  • Contributors: Shunichi Nozawa, Masaki Murooka

0.1.8 (2015-11-02)

  • Merge pull request #512 from k-okada/fix_error package.xml: add rostest to build_depend of eus_qp
  • package.xml: add rostest to build_depend of eus_qp
  • Contributors: Kei Okada

0.1.7 (2015-11-01)

  • [3rdparty/eiquadprog.hpp] using std::abs instead of internal::abs
  • CMakeLists.txt: using test as execute name may confuse system
  • [eus_qp/euslisp/model-predictive-control.l] Support output variables in evaluation
  • [eus_qp/euslisp/model-predictive-control.l] Return world input value (wrench)
  • [eus_qp/euslisp/contact-optimization.l, model-predictive-control.l, test-model-predictive-control.l] Fix bug of mpc inequality-matrix contact coords and update samples
  • [eus_qp/euslisp/model-predictive-control.l, test/test_model_predictive_control., CMakeLists.txt] Add model predictive control from Nagasaka\'2012 and add examples and tests.
  • [eus_qp/euslisp/contact-optimization.l, eus_qp/euslisp/test-contact-wrench-opt.l] Add no-contact constraint and tests
  • [../../eus_qp/euslisp/contact-optimization.l,test-eus-qpoases.l,eus-qpoases.l] Rename solve-qpoases => solve-qpoases-qp and remain solve-qpoases for backward compatibility with warning.
  • Remove manifest.xml and Makefile and use catkin style filesystem
  • Rename samplerobot demo function add infeasible sample. Add to rostest.
  • Do not use immediate value for max demo function num
  • Add test for force min violation
  • Add inequality constraint violation mode if user set min-inequality-violation-weight.
  • add sample for testing sliding contact constraint
  • add translational sliding constraint to contact-optimization.l
  • Add min-max constraint
  • Use contact-constraint-vector-list
  • Update test for test-contact-wrench-opt.l
  • Add demo programe for all contact constraints
  • Rename friction contact constraint
  • Add constraint vector and use constraint-matrix slots variable
  • Fix order of drawing
  • Fix force color
  • Add test for wrench contact application
  • Add contact optimization application using euslisp qp calculation
  • Contributors: Kei Okada, Ryohei Ueda, Shunichi Nozawa, Masaki Murooka

0.1.6 (2015-06-11)

  • [eus_qp] Fix for indigo. Eigen3 on indigo may not provide Eigen::internal::sqrt Eigen::internal::abs, in order to provide them, we define these function in qp_lib.cpp before including qp stuff.

0.1.5 (2015-01-08)

0.1.4 (2014-10-21)

  • add eigen to depend

0.1.3 (2014-10-10)

0.1.2 (2014-09-08)

  • eigen is no longer ros package
  • add catkin_package()
  • Contributors: Kei Okada

0.1.1 (2014-09-04)

  • use find_package(catkin COMPONENTS cmake_modules)
  • add dependancies of euslisp and eigen
  • bag fix load-library functions
  • fix eiquadprog.l, plugin load from LD_LIBRARY_PATH
  • add package.xml,
  • add solve-eiquadprog-raw-with-error function, solve qp with error tolerance, usage=solve-eiquadprog :eiquadprog-function \'solve-eiquadprog-raw-with-error,
  • bug fix of check_constraints function, args order change
  • eq constraints check fix, but this is unbeliabable mistake, why it could be move?
  • returns nil if eiquadprog is not solved
  • fix args for qp_lib.cpp change
  • add some comment, and constrants check result set in global value flag
  • add constraints check functions
  • remove unused comment
  • fix debug mode stop the main functino
  • rename state variable name from f0
  • rename eq -> equality , non-eq -> inequality
  • fix typo ;; min->max
  • .l bug fix, eq constraints mean CEx + ce = 0
  • fix test function, plus minus changed
  • add Makefile
  • add eus_qp dir, solve qp problem with euslisp, use eigenquadprog library
  • Contributors: Shintaro Noda, Shunichi Nozawa

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
eigen

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged eus_qp at answers.ros.org

Package Summary

Tags No category tags.
Version 0.1.15
License Apache License 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2019-07-24
Dev Status DEVELOPED
Released RELEASED

Package Description

eus_qp is an interface of euslisp to solve qp problems with linear constraints.

Additional Links

No additional links.

Maintainers

  • Noda Shintaro

Authors

No additional authors.

eus_qp

Features

  • QP and optimization library and Euslisp bindings
  • Euslisp libraries using optimization

QP and optimization library and Euslisp bindings

Euslisp libraries using optimization

  • Contact optimization
    • Calculation function for wrench and torque distribution.
    • Define classes to represent contact
  • Model predictive control
    • MPC base class
    • MPC for COM motion generation
  • CFR and CWC calculation
    • Calculate functions for CFR (Static or Dynamic COM Feasible Region, ZMP, ...) using LP etc
    • Utilities using optimization
  • Tests
    • euslisp/test-**.l are samples and tests for above codes.
    • These test codes are tested as rostest in test/test_*.l and test/test_*.test.
CHANGELOG

Changelog for package eus_qp

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

  • [eus_qp/euslisp/test-model-predictive-control.l] Add walking example by footstep list (#682)
  • Contributors: Shunichi Nozawa

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

0.1.11 (2017-02-09)

  • [eus_qp/README.md] Add readme for eus_qp and euslisp programs.
  • [eus_qp/euslisp/cfr-cwc-calculation.l] Use obj env constraint in calc-dynamic-min-max-cog-pos
  • [eus_qp/euslisp/cfr-cwc-calculation.l] Remove unused argument for calc-constraint-matrix-vector-for-obj-env-constraint
  • Contributors: Shunichi Nozawa

0.1.10 (2016-12-15)

  • package.xml : remove unnecessary space within name tag
  • eus_qp : add missing install directory
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] support rotational sliding in default-contact-constraint.
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] add rotational-sliding-contact constraint class and calc-constraint-param-list-for-rotational-sliding function.
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] use :fx, :-fx instead of :x, :-x.
  • [test/test_cfr_cwc_calculation.l] Check version of jskeus for old deb installed environment (like hydro travis)
  • [eus_qp/*/*cfr-cwc-calculation*, eus_qp/CMakeLists.txt] Add cfr and cwc calculation.
  • [eus_qp/euslisp/model-predictive-control.l] Enable to add additional-inequality-matrix and additional-inequality-min-vector for MPC COG parameters
  • [eus_qp/euslisp/contact-optimization.l] Add additional-inequality-matrix and additional-inequality-min-vector
  • [eus_qp/euslisp/test-contact-wrench-opt.l,eus_qp/test/test_contact_wrench_opt.l] Add test for cop polygon and friction polycone constraint.
  • [eus_qp/euslisp/contact-optimization] Add linearlized polycone friction constraint
  • [eus_qp/euslisp/model-predictive-control.l] Just fix indent
  • [eus_qp/euslisp, eus_qp/test] Add skip count for receding horizon proc count and update tests.
  • [eus_qp/euslisp/contact-optimization.l] print message of too large equality error only when debug is true.
  • [eus_qp/euslisp/model-predictive-control.l] Add argument to switch solve-qp-mode for qpoases
  • [eus_qp/euslisp/contact-optimization.l] Enable to set solve-qp-mode. Default value is same as solve-qpoases-qp function
  • [eus_qp/euslisp/test-contact-wrench-opt.l] Add test for use equality-error-weight
  • [eus_qp/euslisp/contact-optimization.l] Add argument to support equality error.
  • [eus_qp/euslisp/contact-optimization.l] add :gen-drawing-object method to 6d-min-max-contact-constraint
  • Merge pull request #574 from mmurooka/poly-cop [eus_qp/euslisp] add polygon-cop-contact-constraint
  • [eus_qp/euslisp/contact-optimization.l, test-contact-wrench-opt.l, eus_qp/test/test_contact_wrench_opt.l] Add function to calculate wrench from given wrench. Currently calculation with contact constraints does not work.
  • [euslisp/contact-optimization.l] add argument contact-face to default-contact-constraint.
  • [euslisp/test-contact-wrench-opt.l] add test for polygon-cop-contact-constraint.
  • [euslisp/contact-optimization.l] add class and function for polygon-cop-contact-constraint.
  • Contributors: Kei Okada, Masaki Murooka, Shunichi Nozawa

0.1.9 (2016-03-23)

  • Merge pull request #565 from mmurooka/6d-minmax-constraint [eus_qp/euslisp] add 6d-min-max-contact-constraint class and test
  • [eus_qp/euslisp] pass debug option to qp solve function.
  • [eus_qp/euslisp] add 6d-min-max-contact-constraint class and test for that.
  • [eus_qp/euslisp/contact-optimization.l,test-contact-wrench-opt.l] Add contact constraint for hand gripper and add example.
  • [eus_qp/euslisp/contact-optimization.l, test-contact-wrench-opt.l] Add mu-margin-ration and cop-margin-ratio. Add example for these parameters.
  • [eus_qp/euslisp/contact-optimization.l] Fix updating of drawing object newcoords. If initialize, update coords.
  • [eus_qp/euslisp/contact-optimization.l] Generate drawing object when drawing (https://github.com/jsk-ros-pkg/jsk_control/pull/558).
  • [eus_qp/euslisp/contact-optimization.l] Enable to set jacobi from arg.
  • [eus_qp/CMakeLists.txt, package.xml, src/qp_lib.cpp] Revert Eigen usage hack by garaemon, because we can build this program on travis without this hack (https://github.com/jsk-ros-pkg/jsk_control/commit/4937ac04d0c1beceb8c4c92eac258c00549943f9)
  • [eus_qp/euslisp/contact-optimization.l] Just fix indent.
  • [eus_qp/euslisp/contact-optimization.l] Add max fz if necessary
  • [eus_qp/euslisp/model-predictive-control.l] Fix typos in MPC drift and output ports.
  • [eus_qp/euslisp/model-predictive-control.l,test-model-predictive-control.l] Update mpc to fix calculation for drift and output matrices
  • [eus_qp/test/test_model_predictive_control.test] Increase time-limit for MPC rostest
  • [eus_qp/euslisp/contact-optimization.l] Define concatenate matrix function for old euslisp environment.
  • [eus_qp/euslisp/test-model-predictive-control.l] Update for IK default argument for MPC examples.
  • [eus_qp/euslisp/contact-optimization.l] Moved concatenate matrix functions to jskeus (https://github.com/euslisp/jskeus/commit/5b1cf86398c4688f41c6ec654c00059e5cbd7bca)
  • [eus_qp/CMakeLists.txt] Add eus_qp MPC test for cmake rostest.
  • Contributors: Shunichi Nozawa, Masaki Murooka

0.1.8 (2015-11-02)

  • Merge pull request #512 from k-okada/fix_error package.xml: add rostest to build_depend of eus_qp
  • package.xml: add rostest to build_depend of eus_qp
  • Contributors: Kei Okada

0.1.7 (2015-11-01)

  • [3rdparty/eiquadprog.hpp] using std::abs instead of internal::abs
  • CMakeLists.txt: using test as execute name may confuse system
  • [eus_qp/euslisp/model-predictive-control.l] Support output variables in evaluation
  • [eus_qp/euslisp/model-predictive-control.l] Return world input value (wrench)
  • [eus_qp/euslisp/contact-optimization.l, model-predictive-control.l, test-model-predictive-control.l] Fix bug of mpc inequality-matrix contact coords and update samples
  • [eus_qp/euslisp/model-predictive-control.l, test/test_model_predictive_control., CMakeLists.txt] Add model predictive control from Nagasaka\'2012 and add examples and tests.
  • [eus_qp/euslisp/contact-optimization.l, eus_qp/euslisp/test-contact-wrench-opt.l] Add no-contact constraint and tests
  • [../../eus_qp/euslisp/contact-optimization.l,test-eus-qpoases.l,eus-qpoases.l] Rename solve-qpoases => solve-qpoases-qp and remain solve-qpoases for backward compatibility with warning.
  • Remove manifest.xml and Makefile and use catkin style filesystem
  • Rename samplerobot demo function add infeasible sample. Add to rostest.
  • Do not use immediate value for max demo function num
  • Add test for force min violation
  • Add inequality constraint violation mode if user set min-inequality-violation-weight.
  • add sample for testing sliding contact constraint
  • add translational sliding constraint to contact-optimization.l
  • Add min-max constraint
  • Use contact-constraint-vector-list
  • Update test for test-contact-wrench-opt.l
  • Add demo programe for all contact constraints
  • Rename friction contact constraint
  • Add constraint vector and use constraint-matrix slots variable
  • Fix order of drawing
  • Fix force color
  • Add test for wrench contact application
  • Add contact optimization application using euslisp qp calculation
  • Contributors: Kei Okada, Ryohei Ueda, Shunichi Nozawa, Masaki Murooka

0.1.6 (2015-06-11)

  • [eus_qp] Fix for indigo. Eigen3 on indigo may not provide Eigen::internal::sqrt Eigen::internal::abs, in order to provide them, we define these function in qp_lib.cpp before including qp stuff.

0.1.5 (2015-01-08)

0.1.4 (2014-10-21)

  • add eigen to depend

0.1.3 (2014-10-10)

0.1.2 (2014-09-08)

  • eigen is no longer ros package
  • add catkin_package()
  • Contributors: Kei Okada

0.1.1 (2014-09-04)

  • use find_package(catkin COMPONENTS cmake_modules)
  • add dependancies of euslisp and eigen
  • bag fix load-library functions
  • fix eiquadprog.l, plugin load from LD_LIBRARY_PATH
  • add package.xml,
  • add solve-eiquadprog-raw-with-error function, solve qp with error tolerance, usage=solve-eiquadprog :eiquadprog-function \'solve-eiquadprog-raw-with-error,
  • bug fix of check_constraints function, args order change
  • eq constraints check fix, but this is unbeliabable mistake, why it could be move?
  • returns nil if eiquadprog is not solved
  • fix args for qp_lib.cpp change
  • add some comment, and constrants check result set in global value flag
  • add constraints check functions
  • remove unused comment
  • fix debug mode stop the main functino
  • rename state variable name from f0
  • rename eq -> equality , non-eq -> inequality
  • fix typo ;; min->max
  • .l bug fix, eq constraints mean CEx + ce = 0
  • fix test function, plus minus changed
  • add Makefile
  • add eus_qp dir, solve qp problem with euslisp, use eigenquadprog library
  • Contributors: Shintaro Noda, Shunichi Nozawa

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

Name
eigen

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged eus_qp at answers.ros.org