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jsk-ros-pkg / jsk_control

jsk control ros packages
http://github.com/jsk-ros-pkg/jsk_control
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[eus_qpoases/src/eus_qpoases.cpp] change nWSR for large size QP #698

Closed mmurooka closed 5 years ago

mmurooka commented 5 years ago

規模の大きい問題を解くときに，この変更がないと:QP-could-not-be-solved-within-given-number-of-iterationsのエラーが起きます．

k-okada commented 5 years ago

テストコードとか作れるのかな？

2018年12月17日(月) 23:37 Masaki Murooka notifications@github.com:

規模の大きい問題を解くときに，この変更がないと :QP-could-not-be-solved-within-given-number-of-iterations https://github.com/jsk-ros-pkg/jsk_control/blob/master/eus_qpoases/euslisp/eus-qpoases.l#L285 のエラーが起きます．

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https://github.com/jsk-ros-pkg/jsk_control/pull/698 Commit Summary

  • [eus_qpoases/src/eus_qpoases.cpp] change nWSR for large size QP problem: 1000 -> 10000

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mmurooka commented 5 years ago

https://github.com/jsk-ros-pkg/jsk_control/pull/700 に含まれていました．

テストコードとか作れるのかな？

テストも以下に加えてあります． https://github.com/jsk-ros-pkg/jsk_control/blob/master/eus_qp/CMakeLists.txt#L26-L27 https://github.com/jsk-ros-pkg/jsk_control/tree/master/eus_qp/optmotiongen/test ただ，テストにある動作生成だけでは，このPRの変更がなくても通ることも確認されました．もっと大規模な1時間くらい計画にかかる問題だと，このPRの変更が必要になります．