When using the example code (as outlined in README) with default waypoints, nlopt works fine. I changed the waypoints to { (0,0,1), (0,1,1), (0, 2, 1), (1,2,1) } and get
E0523 22:24:15.674819 30226 polynomial_optimization_nonlinear_impl.h:505] error while setting up nlopt: nlopt invalid argument
I traced it back to the nlopt_->set_initial_step(initial_step); line and realized that the initial step size check was no good. Need to be using epsilon instead of lowest.
rikba
commented
3 years ago
Machine: Ubuntu 18.04 / ROS Melodic
When using the example code (as outlined in README) with default waypoints, nlopt works fine. I changed the waypoints to
{ (0,0,1), (0,1,1), (0, 2, 1), (1,2,1) }and getI traced it back to the
nlopt_->set_initial_step(initial_step);line and realized that the initial step size check was no good. Need to be usingepsiloninstead oflowest.