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ayonga / frost-dev

Fast Robot Optimization and Simulation Toolkit (FROST)
http://ayonga.github.io/frost-dev/
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Question about setting bounds #40

Closed gleamingko closed 5 years ago

gleamingko commented 5 years ago

I was trying to modify the rabbit example's virtual constraint,and I found something confusing me in setbounds.m

bounds.RightStance.params.ptime.lb = [bounds.RightStance.time.tf.lb, bounds.RightStance.time.t0.lb];
bounds.RightStance.params.ptime.ub = [bounds.RightStance.time.tf.ub, bounds.RightStance.time.t0.ub];
bounds.RightStance.params.ptime.x0 = [bounds.RightStance.time.t0.x0, bounds.RightStance.time.tf.x0];

I supposed the positions of "tf" and "t0" were swapped by mistake, but the optimization worked out. Then I tried to change the positions like following which I thought were right, Maximum Number of Iterations Exceeded. The result didn't seem like reasonable.

bounds.RightStance.params.ptime.lb = [bounds.RightStance.time.t0.lb, bounds.RightStance.time.tf.lb];
bounds.RightStance.params.ptime.ub = [bounds.RightStance.time.t0.ub, bounds.RightStance.time.tf.ub];