search

RoboticExplorationLab / Altro.jl

MIT License
139 stars 41 forks source link

status bound constraint #50

Closed ZeeCarl closed 5 months ago

ZeeCarl commented 5 months ago

thank you for provide this package, does it provide a current interface of set a status bound constraint like goal constraint and control constraint?

ZeeCarl commented 5 months ago

@bjack205

bjack205 commented 5 months ago

Control and state bounds are both supported, as well as general nonlinear constraints, as long as they are stage-wise.

ZeeCarl commented 5 months ago

Control and state bounds are both supported, as well as general nonlinear constraints, as long as they are stage-wise.

thank u for reply, I have finished state constraints by using altro-cpp, it seems that control bound and state bound won't work when bound trajectory infeasible,

now i'm working to add the rate of control bound into my project , like jerk in a unicycle model(state：x,y,theta,v and control:front_wheel_angle, rear_wheel_acceleration), can you show me some ideas? @bjack205