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alexliniger / MPCC

Model Predictive Contouring Controller (MPCC) for Autonomous Racing
Apache License 2.0
1.29k stars 364 forks source link

sqp_related #47

Closed DreamonZhu closed 3 years ago

DreamonZhu commented 3 years ago

Hi alexliniger, https://github.com/alexliniger/MPCC/blob/3ec7805e7a176c57250c1a414a6d2b871e472d74/C%2B%2B/MPC/mpc.cpp#L238#L239 could you please tell me what n_no_solvessqp means? https://github.com/alexliniger/MPCC/blob/3ec7805e7a176c57250c1a414a6d2b871e472d74/C%2B%2B/MPC/mpc.cpp#L244-#L251 Also I am so sorry I could ot understand the logic of the code here? Hope you could explain it to me? I believe it also has something to do with the meaning of n_no_solvessqp . But I just am not able to get it. Thank you so much first.

alexliniger commented 3 years ago

The question is what to do if your QP does not converge, n_no_solvessqp is just the number of times the solver did not converge during one SQP solve. Depending on how often this happens and how often a similar problem occurred in the time steps before a default initial guess is used and not the previous solution. This is not a very good solution, and one should do something better there but if everything works well it is not really needed. Best, Alex

DreamonZhu commented 3 years ago

Did you have any reference books or documents which introduce the usage or API of hpipm or some suggestions to learn hpipm ? I just want to know hpipm a little more. Anyway, thanks very much.

alexliniger commented 3 years ago

https://github.com/giaf/hpipm there you can find everything (it is not a lot)