[cpp] Add Seidel solver.

hungpham2511 / toppra

robotic motion planning library

https://hungpham2511.github.io/toppra/index.html

MIT License

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[cpp] Add Seidel solver. #158

Closed jmirabel closed 3 years ago

jmirabel commented 3 years ago

Fixes #156 and #109.

Checklists:

[x] Update HISTORY.md with a single line describing this PR

jmirabel commented 3 years ago

I haven't exposed my functions to Python. I know it is a pity to have two implementations of the same thing but I won't have time to work on this now. I leave this to future work.

hungpham2511 commented 3 years ago

Hi Joseph, thanks for the PR! I have been wanting to implement/someone to implement this feature for quite a while.

Just curious, what motivates you to implement this feature? Is it because of concerns about solve time?

jmirabel commented 3 years ago

Resolution time is only a bonus. I have some numerical issues which I hope to solve with Seidel solver. Let's see.

hungpham2511 commented 3 years ago

I see. What kind of fail cases did you have?

In my experience, solvers are only part of the picture. Scaling, etc.. are also important factors to consider.