Closed wxmerkt closed 4 years ago
In GitLab by @cmastalli on Dec 3, 2018, 13:35
changed the description
In GitLab by @cmastalli on Dec 3, 2018, 13:36
For the moment, we have solved the point 1. @nmansard I need that you check a proposed solution for the point 4.
In GitLab by @cmastalli on Dec 6, 2018, 17:47
mentioned in merge request !29
In GitLab by @cmastalli on Dec 6, 2018, 22:54
@nmansard I am not sure if I understand the point 5. How is possible that the control cost is equals to the regularization?
For instance the control cost (0.5 u^T Q u^T) has a gradient different to zero (i.e. Q u), and often this isn't zero in the optimal solution neither. On the other hand, regularization scheme affects only Quu (mu * I), not Qu!.
In GitLab by @nmansard on Dec 7, 2018, 09:43
Currently working: 1,2,4
In GitLab by @cmastalli on Dec 7, 2018, 20:57
mentioned in merge request !31
In GitLab by @cmastalli on Dec 7, 2018, 20:58
And now working 3.
In GitLab by @cmastalli on Dec 11, 2018, 18:20
mentioned in merge request !32
In GitLab by @cmastalli on Dec 11, 2018, 18:20
At the moment it's missing only the point 6.
In GitLab by @nmansard on Jan 21, 2019, 15:27
Done.
In GitLab by @nmansard on Jan 21, 2019, 15:27
closed
In GitLab by @nmansard on Nov 28, 2018, 09:52
The unit test list should be as follows:
We may also want to add an integrative test with the arm (and later with legged robots), i.e. comparing the numerical results of the test with a reference execution.
Unit-test validation before merge-request, implemented by @nim65s should be active.
When all that points are matched, close the milestone unittest.