ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro kilted. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Various DDP Solvers
Additional Links
Maintainers
- Wolfgang Merkt
Authors
- Traiko Dinev
README
No README found.
See repository README.
CHANGELOG
Changelog for package exotica_ddp_solver
6.2.0 (2021-07-23)
- Performance improvements (#741)
- FDDP: Fix allocation
- Use in-place StateDelta
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
6.1.0 (2021-03-15)
- Clang support and bug fixes (#731)
- Upgrade clang format from v3.9 to v6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- FDDP: More verbosity on NaN
- Use state transition function + derivative in place of hard-coded scheme
- BoxFDDP: Set default BoxQP options
- (Box)FDDP: Add GradientTolerance convergence criterion
- Add steplength and regularization evolution
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- FDDP: Only allocate if T changed
- FDDP: Use const-ref for warm-start
- Expose all internal data via const-ref getter
- Switch FDDP to LDLT decomposition
- Only contract with 2nd order derivatives if DynamicsSolver has them
- Pre-allocate, go over equations, convert to trajectory pre-allocation
- ControlLimitedDDPSolver: Clean-up Qxx, Qxu, Quu computation
- Move costs from Solver to Problem
- ControlLimitedDDPSolver: Add parameter for switching different BoxQP solvers
- Introduce thresholds for increase/decrease of regularization
- ControlLimitedDDPSolver: Add state regularization
- Re-use already allocated variables. Fixes #678
- Control-limited DDP: Use fixed, low regularization for BoxQP
- FDDP: Remove exception in ForwardPass
- FDDP: Replace exception to adapt regularisation
- FDDP: Use copy instead of reference to reset shooting nodes
- BoxDDP: Clamp in forward-pass
- Refactor FDDP to Abstract + Implementation
- Fix NX => NDX bugs
- Add BoxFDDP
- Correctly resize matrices, speed up AnalyticDDPSolver::BackwardPass by using LLT
- Use DynamicsSolver::ComputeDerivatives
- Add FeasibilityDrivenDDPSolver
- Contributors: Traiko Dinev, Wolfgang Merkt
5.1.3 (2020-02-13)
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
- Add [exotica_ddp_solver]{.title-ref}
- Contributors: Traiko Dinev, Wolfgang Merkt
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| exotica_core | |
| exotica_python |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_ddp_solver at Robotics Stack Exchange
No version for distro ardent. Known supported distros are highlighted in the buttons above.
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No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Various DDP Solvers
Additional Links
Maintainers
- Wolfgang Merkt
Authors
- Traiko Dinev
README
No README found.
See repository README.
CHANGELOG
Changelog for package exotica_ddp_solver
6.2.0 (2021-07-23)
- Performance improvements (#741)
- FDDP: Fix allocation
- Use in-place StateDelta
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
6.1.0 (2021-03-15)
- Clang support and bug fixes (#731)
- Upgrade clang format from v3.9 to v6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- FDDP: More verbosity on NaN
- Use state transition function + derivative in place of hard-coded scheme
- BoxFDDP: Set default BoxQP options
- (Box)FDDP: Add GradientTolerance convergence criterion
- Add steplength and regularization evolution
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- FDDP: Only allocate if T changed
- FDDP: Use const-ref for warm-start
- Expose all internal data via const-ref getter
- Switch FDDP to LDLT decomposition
- Only contract with 2nd order derivatives if DynamicsSolver has them
- Pre-allocate, go over equations, convert to trajectory pre-allocation
- ControlLimitedDDPSolver: Clean-up Qxx, Qxu, Quu computation
- Move costs from Solver to Problem
- ControlLimitedDDPSolver: Add parameter for switching different BoxQP solvers
- Introduce thresholds for increase/decrease of regularization
- ControlLimitedDDPSolver: Add state regularization
- Re-use already allocated variables. Fixes #678
- Control-limited DDP: Use fixed, low regularization for BoxQP
- FDDP: Remove exception in ForwardPass
- FDDP: Replace exception to adapt regularisation
- FDDP: Use copy instead of reference to reset shooting nodes
- BoxDDP: Clamp in forward-pass
- Refactor FDDP to Abstract + Implementation
- Fix NX => NDX bugs
- Add BoxFDDP
- Correctly resize matrices, speed up AnalyticDDPSolver::BackwardPass by using LLT
- Use DynamicsSolver::ComputeDerivatives
- Add FeasibilityDrivenDDPSolver
- Contributors: Traiko Dinev, Wolfgang Merkt
5.1.3 (2020-02-13)
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
- Add [exotica_ddp_solver]{.title-ref}
- Contributors: Traiko Dinev, Wolfgang Merkt
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| exotica_core | |
| exotica_python |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_ddp_solver at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Various DDP Solvers
Additional Links
Maintainers
- Wolfgang Merkt
Authors
- Traiko Dinev
README
No README found.
See repository README.
CHANGELOG
Changelog for package exotica_ddp_solver
6.2.0 (2021-07-23)
- Performance improvements (#741)
- FDDP: Fix allocation
- Use in-place StateDelta
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
6.1.0 (2021-03-15)
- Clang support and bug fixes (#731)
- Upgrade clang format from v3.9 to v6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- FDDP: More verbosity on NaN
- Use state transition function + derivative in place of hard-coded scheme
- BoxFDDP: Set default BoxQP options
- (Box)FDDP: Add GradientTolerance convergence criterion
- Add steplength and regularization evolution
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- FDDP: Only allocate if T changed
- FDDP: Use const-ref for warm-start
- Expose all internal data via const-ref getter
- Switch FDDP to LDLT decomposition
- Only contract with 2nd order derivatives if DynamicsSolver has them
- Pre-allocate, go over equations, convert to trajectory pre-allocation
- ControlLimitedDDPSolver: Clean-up Qxx, Qxu, Quu computation
- Move costs from Solver to Problem
- ControlLimitedDDPSolver: Add parameter for switching different BoxQP solvers
- Introduce thresholds for increase/decrease of regularization
- ControlLimitedDDPSolver: Add state regularization
- Re-use already allocated variables. Fixes #678
- Control-limited DDP: Use fixed, low regularization for BoxQP
- FDDP: Remove exception in ForwardPass
- FDDP: Replace exception to adapt regularisation
- FDDP: Use copy instead of reference to reset shooting nodes
- BoxDDP: Clamp in forward-pass
- Refactor FDDP to Abstract + Implementation
- Fix NX => NDX bugs
- Add BoxFDDP
- Correctly resize matrices, speed up AnalyticDDPSolver::BackwardPass by using LLT
- Use DynamicsSolver::ComputeDerivatives
- Add FeasibilityDrivenDDPSolver
- Contributors: Traiko Dinev, Wolfgang Merkt
5.1.3 (2020-02-13)
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
- Add [exotica_ddp_solver]{.title-ref}
- Contributors: Traiko Dinev, Wolfgang Merkt
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| exotica_core | |
| exotica_python |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found