Closed jmirabel closed 3 years ago
You are right, there is no reason particular reason for that upper limit to be there.
However, we have had problems in the past when x is too large, the optimizer behaves quite badly. In the Python implementation, there is a scaling step to address this problem. See https://github.com/hungpham2511/toppra/blob/644e263269e45be8fc595bae59e959b9570edaa3/toppra/solverwrapper/hot_qpoases_solverwrapper.py#L120
This step should, however, be implemented by the solver wrappers like in the Python implementation because solvers are generally different when it comes to numerical instability.
Thank you. I added a comment in the code. 5099b23f06acb28e822e99e65dbda08c886b69d7
Dear @hungpham2511,
is there a rationale for the hardcoded values
at line https://github.com/hungpham2511/toppra/blob/ec723091a717373413d5747d6c1e56d57a646fa1/cpp/src/toppra/algorithm.cpp#L40 ?
I couldn't find such a limit in the Python implementation.