Segment Cost computation

ethz-asl / mav_trajectory_generation

Polynomial trajectory generation and optimization, especially for rotary-wing MAVs.

Apache License 2.0

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Closed jh-kandarp closed 4 years ago

jh-kandarp commented 4 years ago

Hello,

Thank you for open open sourcing your implementation.

In polynomial_optimization_linear_impl, the segment cost is computed as 0.5 c^T Q * c

Can you please explain reason for multiplication factor of 0.5 ?

Thanks

rikba commented 4 years ago

As far as I know this is just for convenience. If you compute the gradient you get a fixed scalar free expression, i.e., d/dc (0.5 c^T Q c) = Q c