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ethz-asl / sampling_based_control

BSD 3-Clause "New" or "Revised" License
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Unable to Find Safety Filter Implementation and Location #36

Open gabrielblomberg opened 1 month ago

gabrielblomberg commented 1 month ago

Hi, I can't seem to find the safety filter implementations for either FILTER-QP or sequential FILTER-QP referenced in the paper "Robust Sampling-Based Control of Mobile Manipulators for InteractionWith Articulated Objects".

There is a class Filter used as the superclass for the safety filter, declared in mppi/include/core/filter.h that is used in the solver when the filter is enabled in mppi/src/core/solver.cpp. I can't seem to find any classes that inherit and implement this superclass. I also can't find any reference to osqp. Searching through the branches doesn't yield anything either:

> git grep "public Filter" $(git rev-list --branches)
> git grep "private Filter" $(git rev-list --branches)
> git grep "osqp" $(git rev-list --branches)

Where can I find the safety filter implementations?

Cheers!