tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS
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fixed column spacing #262

Closed bi3ri closed 2 years ago

bi3ri commented 3 years ago

before: Screenshot from 2021-09-11 10-47-38

after: Screenshot from 2021-09-11 10-46-30

Levi-Armstrong commented 2 years ago

Thank for the PR, I am about to merge PR #260 which also update the table. It moves the names to the far right to avoid this problem and also adds additional information. Once it is merged take a look and see if there is anything from this PR that can be used.

| ======================================================================================== |
|                                      ROS Industrial                                      |
|                                  TrajOpt Motion Planning                                 |
| ======================================================================================== |
|                            Iteration (Box Size: 0.010000000)                             |
| ---------------------------------------------------------------------------------------- |
|        Overall: 1    |      Convexify: 1    |    Trust Region: 1   |        Penalty: 0   |
| ======================================================================================== |
|      merit |   oldexact |  new_exact | new_approx |    dapprox |     dexact |      ratio |
| ---------------------------------------------------------------------------------------- | INDIVIDUAL COSTS
| ---------- |  3.343e-01 |  3.341e-01 |  3.341e-01 |  2.192e-04 |  2.192e-04 |  1.000e+00 | JointVelocity_0
| ---------- |  8.955e-03 |  8.946e-03 |  8.946e-03 |  9.444e-06 |  9.444e-06 |  1.000e+00 | JointVelocity_1
| ---------- |  4.430e-05 |  4.603e-05 |  4.603e-05 | -1.736e-06 | -1.736e-06 |  1.000e+00 | JointVelocity_2
| ---------- |  4.218e-03 |  4.290e-03 |  4.290e-03 | -7.173e-05 | -7.173e-05 |  1.000e+00 | JointVelocity_3
| ---------- |  7.461e-03 |  7.619e-03 |  7.619e-03 | -1.579e-04 | -1.579e-04 |  1.000e+00 | JointVelocity_4
| ---------- |  7.652e-04 |  7.706e-04 |  7.706e-04 | -5.408e-06 | -5.408e-06 |  1.000e+00 | JointVelocity_5
| ---------- |  5.026e-04 |  5.198e-04 |  5.198e-04 | -1.718e-05 | -1.718e-05 |  1.000e+00 | JointVelocity_6
| ---------- |  7.222e-04 |  7.259e-04 |  7.259e-04 | -3.704e-06 | -3.704e-06 |  1.000e+00 | JointVelocity_7
| ---------- |  3.343e-01 |  3.341e-01 |  3.341e-01 |  2.195e-04 |  2.195e-04 |  1.000e+00 | JointVelocity_8
| ---------- |  8.955e-03 |  8.946e-03 |  8.946e-03 |  9.460e-06 |  9.460e-06 |  1.000e+00 | JointVelocity_9
| ---------- |  4.430e-05 |  4.604e-05 |  4.604e-05 | -1.744e-06 | -1.744e-06 |  1.000e+00 | JointVelocity_10
| ---------- |  4.218e-03 |  4.290e-03 |  4.290e-03 | -7.171e-05 | -7.171e-05 |  1.000e+00 | JointVelocity_11
bi3ri commented 2 years ago

@Levi-Armstrong I only changed the space which was reserved for the names on the left side. After moving them to the right, this becomes obsolete.

I like the new table though! (:

This PR can be closet.