Feature: TOPPRA algorithm

hungpham2511 / toppra

robotic motion planning library

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

MIT License

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Feature: TOPPRA algorithm #90

Closed hungpham2511 closed 4 years ago

hungpham2511 commented 4 years ago

This PR:

implements the TOPPRA algorithm.
adds tests for polynomial geometric path class.
adds tests for TOPPRA algorithm, comparing output with the Python codebase.

Comments are welcomed.

jmirabel commented 4 years ago

Did you forgot to commit some files ?

hungpham2511 commented 4 years ago

As the current stage, the code can compute the controllable sets, which is approximately half of the TOPPRA algorithm. The other half is much easier to implement now that everything is in place.

However, the algorithm can't solve a simple instance that I throw at it, which means there are bugs in the current implementation somewhere. I propose to carry on with the implementation so that we can agree on the code, we get this PR merge before bug hunting. What do you think? @jmirabel

jmirabel commented 4 years ago

I propose to carry on with the implementation so that we can agree on the code, we get this PR merge before bug hunting.

Go ahead.

hungpham2511 commented 4 years ago

Preliminary inspection suggests that the coefficients passed to qpoases are incorrect, which is not entirely surprising. I will start to look into the issues.

Meanwhile, feel free to review and comment on the API. Thanks!

hungpham2511 commented 4 years ago

Look like we have a working TOPRA algorithm now. The C++ test pass. Can you help to review and accept the PR? @jmirabel