Package Summary

Tags No category tags.
Version 6.0.2
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 2020-11-23
Dev Status DEVELOPED
CI status No 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

  • Traiko Dinev
  • Wolfgang Merkt

Authors

  • Traiko Dinev
README
No README found. See repository README.
CHANGELOG

Changelog for package exotica_ddp_solver

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
  • Contributors: Traiko Dinev, Wolfgang Merkt

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged exotica_ddp_solver at answers.ros.org

Package Summary

Tags No category tags.
Version 6.0.2
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 2020-11-23
Dev Status DEVELOPED
CI status No 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

  • Traiko Dinev
  • Wolfgang Merkt

Authors

  • Traiko Dinev
README
No README found. See repository README.
CHANGELOG

Changelog for package exotica_ddp_solver

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
  • Contributors: Traiko Dinev, Wolfgang Merkt

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged exotica_ddp_solver at answers.ros.org

Package Summary

Tags No category tags.
Version 6.0.2
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 2020-11-23
Dev Status DEVELOPED
CI status No 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

  • Traiko Dinev
  • Wolfgang Merkt

Authors

  • Traiko Dinev
README
No README found. See repository README.
CHANGELOG

Changelog for package exotica_ddp_solver

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
  • Contributors: Traiko Dinev, Wolfgang Merkt

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged exotica_ddp_solver at answers.ros.org