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JianZhou1212 / interaction-safety-aware-motion-planning

Implementation of interaction and safety-aware motion planning
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The result is different #2

Closed xiaoluzaina closed 4 months ago

xiaoluzaina commented 4 months ago

Hello, I am very interested in your work, but when I ran the main program in the case, I found that the MP4 video obtained was different from the example. There was no trajectory information planned by EV. The EV in other sub-pictures The information is also missing. When debugging, I found that the state predictions for EV in X_State were all zero. I tried to modify it, but failed. Where does the problem occur?

JianZhou1212 commented 4 months ago

Hi, thanks for your interest! I am on vacation now so I can not test the code on my work computer. If you get EV's state prediction as zeor while the code was running without any errors/warning reported, you may try to comment out "ipopt.linear_solver": "ma57" in the file ISA_MPC (and also other places). ( As I guess the problem was that you did not successfully install the HSL linear solver in Casadi.) I will be back to uni. on July 31, so if you still meet issues you can email me then we can look at the details. Good luck!

xiaoluzaina commented 4 months ago

Thank you for your reply, the problem is as you said, I did not successfully install the HSL linear solver in Casadi. And this problem has been solved, thank you again.