Closed hungpham2511 closed 4 years ago
Did you forgot to commit some files ?
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
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.
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!
Look like we have a working TOPRA algorithm now. The C++ test pass. Can you help to review and accept the PR? @jmirabel
This PR:
Comments are welcomed.