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onlytailei / CppRobotics

cpp implementation of robotics algorithms including localization, mapping, SLAM, path planning and control
MIT License
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mpc中的solution为空 #4

Open chengfenghuayu opened 5 years ago

chengfenghuayu commented 5 years ago

你好～ 我编译通过了model_predictive_control.cpp文件通过了，两个依赖库也安装了，但是运行会显示数数组超界限，然后发现里面求解的 // solve the problem CppAD::ipopt::solve<Dvector, FG_EVAL>( options, vars, vars_lowerbound, vars_upperbound, constraints_lowerbound, constraints_upperbound, fg_eval, solution); 这一步中的solution 求解出来的为空． 库应该时安装对的，你知道是哪里有问题吗？ 谢谢～

onlytailei commented 5 years ago

FYI, 我的相关版本：　Ipopt-3.12.13　CppAD-20190200.1 在我这运行没有问题，请注意你有没有给所有变量设置上下界

chengfenghuayu commented 5 years ago

我是直接跑model_predictivecontrol的例子的,没有修改任何东西,两个库也安装成和你一样的版本,运行时还是报下面的错误: cppad-20190200.1 error from a known source: vector: index greater than or equal vector size Error detected by false result for i < length at line 478 in the file /usr/include/cppad/utility/vector.hpp mpc: /usr/include/cppad/utility/error_handler.hpp:206: static void CppAD::ErrorHandler::Default(bool, int, const char, const char, const char*): Assertion `false' failed. Aborted (core dumped)

onlytailei commented 5 years ago

如果你可以搞成一个docker环境，并且复现相关问题的话　我可以帮你看一下

longjianquan commented 4 years ago

MPC 出来的路径不对啊，

SilvAmumu commented 3 years ago

我是直接跑model_predictivecontrol的例子的,没有修改任何东西,两个库也安装成和你一样的版本,运行时还是报下面的错误: cppad-20190200.1 error from a known source: vector: index greater than or equal vector size Error detected by false result for i < length at line 478 in the file /usr/include/cppad/utility/vector.hpp mpc: /usr/include/cppad/utility/error_handler.hpp:206: static void CppAD::ErrorHandler::Default(bool, int, const char, const char, const char*): Assertion `false' failed. Aborted (core dumped)

问题解决了吗。我也遇到了

qq543811 commented 3 years ago

应该是ipopt缺少依赖HSL (Harwell Subroutines Library)。 可以按照官方文档中方法安装依赖：https://coin-or.github.io/Ipopt/INSTALL.html#DOWNLOAD_HSL 或者直接用脚本重新安装ipopt：https://blog.csdn.net/weixin_37532614/article/details/105124200