Find boundary #171

Jianshu-Hu · 2020-07-02T03:20:27Z

Major feature: create function to search the task space and get the costs
This is just a early version.
Urgent thing here is how to combine the intersected codes (trajectory optimization) between find_goldilocks_model and find_boundary.

This change is

…y of solutions

…ution

…l solutions

…ng functions

Jianshu-Hu added 30 commits May 23, 2020 11:36

update find_boundary (unfinished)

ee174f0

successfully build(unfinished)

b0d0ea3

finished search algorithm

7437e3d

debug for sample_index

0216ac9

update index for trajectory optimization and use cost to judge qualit…

0919cee

…y of solutions

set the initial guess for trajecoty optimization

a952223

generalize the search algorithm

cd94e5b

debug for initial guess

e02e644

add filter for directions

df4eac5

Merge branch 'goldilocks-model-dev' into find-boundary

c784e9c

small update

fdbadbc

update function used for visualization

96807a5

different threshold of cost for different robots

0493f08

upadte step size and set a flag to indicate calculating nominal cost

75fd6c2

check the adjacent sample cost

cbc356b

update method of using adjacent sample to judge the solution

c24403f

change the scale option for snope with cassie

cd775ea

update theta_index

fc0eb30

update theta_index

78ff1da

set theta index as a flag

94d16b1

cout more information

3db7c30

set the snopt scale option as 2 for five_link robot

b85ff1b

change the snopt option back to 0 for five_link robot

cb8f1f7

now the snopt option for five_link is 0 and for cassie is 2

904ccd5

set good initial guess for central point while using optimized model

fc64093

set the snopt option as 2 for five_link robot

6d1c11f

update central point evaluation to make sure getting a good solution

b728da8

save more information in boundary_point

d249465

add more reruns for each sample to make sure getting a successful sol…

1f52bf0

…ution

try different methods to rerun to make sure all samples get successfu…

4c3dd90

…l solutions

Jianshu-Hu and others added 30 commits July 5, 2020 19:43

fix a bug in initial_guess.cc;Wrongly use the normalize()

abf9e88

fix a bug in initial_guess.cc;Wringly use the function normalized()

0990cbf

merge

b63615a

modify

a02f039

adjust the delta for tasks

38b502c

minor change

ee8fa46

set the cost threshold same for nominal and usual case

7ac34d7

fix a bug for providing initial guess for first sample in a line

47065da

add a flag used for continuing program from midpoint

b4a42c1

update functions used for plotting landscape

2f4da02

minor change

e290486

Update initial_guess.cc

fbd28d2

merge with goldilocks-model-dev

c0ef6de

merge with goldilocks-model-dev

384a3d5

merge with goldilocks-model-dev

8a00333

modify the plotting functions for plotting cost landscape

4e54329

specify the color discretization for each segment

713ea3d

update plotting functions

6d1cdda

merge with goldilocks-model-dev and add the ipopt to help failed samples

090bce7

update plotting functions

0e69614

small update

772ffd0

add a function to try one intermediate sample to help

13ee0c3

update plotting functions and the main program

6fa1066

fix a bug related to creating intermediate sample

fe5b0bf

updating plotting function to fit the incomplete data

41baac5

update plotting functions and find_boundary

1b03c0b

updating plotting functions

90a0bc4

add comments to plotting functions and finalize the version of plotti…

8098f58

…ng functions

add the plotting for optimization range

1aff54e

add a flag so the data generated from find_boundary can be visualized

826c464

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Find boundary #171

Find boundary #171

Jianshu-Hu commented Jul 2, 2020 •

edited by mposa

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Find boundary #171

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Find boundary #171

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Jianshu-Hu commented Jul 2, 2020 • edited by mposa Loading

Jianshu-Hu commented Jul 2, 2020 •

edited by mposa

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