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tesseract-robotics
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trajopt
Trajectory Optimization Motion Planner for ROS
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Fixes to the trust region loop
#349
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rjoomen
closed
11 months ago
rjoomen
commented
11 months ago
Fix termination condition for the trust region loop to match trajopt_sco and the original paper.
Add initial_merit_error_coeff to match trajopt_sco.
Solves #348
Solves #348