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loco-3d / crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
BSD 3-Clause "New" or "Revised" License
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Questions about ConstraintModel class #1267

Closed jia-xinyu closed 5 months ago

jia-xinyu commented 5 months ago

Hi,

Thanks for developing such a great OP solver. I am writing a constrainted MPC based on the Crocoddyl, and noticed that the v2 version added the ConstraintModelResidual class. So I wonder how the solver handles inequality constraints using this class (or its principal). Its calc() function seems to provide little informtion. Are the constraints formulated as quadratic penalties in the cost as in the example? If so, how how do I adjust the weights for these penalty functions?

Thanks a lot!

cmastalli commented 5 months ago

Hi @jia-xinyu,

Let's take this discussion in private. Please feel free to contact me via c.mastalli@hw.ac.uk.