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rmoan2
db-guided-mrmp
Commits
202c2569
Commit
202c2569
authored
4 months ago
by
rachelmoan
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try setting dual variables
parent
aed63442
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3 changed files
guided_mrmp/conflict_resolvers/traj_opt_resolver.py
+7
-8
7 additions, 8 deletions
guided_mrmp/conflict_resolvers/traj_opt_resolver.py
guided_mrmp/optimizer.py
+11
-2
11 additions, 2 deletions
guided_mrmp/optimizer.py
guided_mrmp/tests/test_traj_opt.py
+3
-2
3 additions, 2 deletions
guided_mrmp/tests/test_traj_opt.py
with
21 additions
and
12 deletions
guided_mrmp/conflict_resolvers/traj_opt_resolver.py
+
7
−
8
View file @
202c2569
...
...
@@ -169,12 +169,12 @@ class TrajOptResolver():
return
{
'
opti
'
:
opti
,
'
X
'
:
X
,
'
U
'
:
U
,
'
T
'
:
T
,
'
cost
'
:
cost
,
'
robot_cost
'
:
robot_cost
,
'
obs_cost
'
:
obs_cost
,
'
time_cost
'
:
time_cost
,
'
control_cost
'
:
control_cost
,
'
goal_cost
'
:
goal_cost
}
def
solve_optimization_problem
(
self
,
problem
,
initial_guesses
=
None
,
solver_options
=
None
):
def
solve_optimization_problem
(
self
,
problem
,
initial_guesses
=
None
,
solver_options
=
None
,
prior_solution
=
None
):
opt
=
Optimizer
(
problem
)
results
=
opt
.
solve_optimization_problem
(
initial_guesses
,
solver_options
)
return
results
results
,
sol
=
opt
.
solve_optimization_problem
(
initial_guesses
,
solver_options
,
prior_solution
)
return
results
,
sol
def
solve
(
self
,
N
,
x_range
,
y_range
,
initial_guesses
=
None
,
solver_options
=
None
):
def
solve
(
self
,
N
,
x_range
,
y_range
,
initial_guesses
=
None
,
solver_options
=
None
,
prior_solution
=
None
):
"""
Setup and solve a multi-robot traj opt problem
...
...
@@ -186,9 +186,7 @@ class TrajOptResolver():
problem
=
self
.
problem_setup
(
N
,
x_range
,
y_range
)
results
=
self
.
solve_optimization_problem
(
problem
,
initial_guesses
,
solver_options
)
results
,
old_sol
=
self
.
solve_optimization_problem
(
problem
,
initial_guesses
,
solver_options
,
prior_solution
)
if
results
[
'
status
'
]
==
'
failed
'
:
return
None
,
None
,
None
,
None
,
None
,
None
,
None
,
None
...
...
@@ -197,6 +195,7 @@ class TrajOptResolver():
sol
=
results
[
'
solution
'
]
U
=
results
[
'
U
'
]
T
=
results
[
'
T
'
]
lam_g
=
results
[
'
lam_g
'
]
# Extract the values that we want from the optimizer's solution
pos
=
X
[:
self
.
num_robots
*
2
,:]
...
...
@@ -207,7 +206,7 @@ class TrajOptResolver():
vels
=
U
[
0
::
2
,:]
omegas
=
U
[
1
::
2
,:]
return
sol
,
pos
,
vels
,
omegas
,
x_vals
,
y_vals
,
theta_vals
,
T
return
lam_g
,
sol
,
pos
,
vels
,
omegas
,
x_vals
,
y_vals
,
theta_vals
,
T
def
get_local_controls
(
self
,
controls
):
"""
...
...
This diff is collapsed.
Click to expand it.
guided_mrmp/optimizer.py
+
11
−
2
View file @
202c2569
...
...
@@ -2,7 +2,7 @@ class Optimizer:
def
__init__
(
self
,
problem
):
self
.
problem
=
problem
def
solve_optimization_problem
(
self
,
initial_guesses
=
None
,
solver_options
=
None
):
def
solve_optimization_problem
(
self
,
initial_guesses
=
None
,
solver_options
=
None
,
lam_g
=
None
):
opti
=
self
.
problem
[
'
opti
'
]
X
=
self
.
problem
[
'
X
'
]
...
...
@@ -13,6 +13,9 @@ class Optimizer:
for
param
,
value
in
initial_guesses
.
items
():
opti
.
set_initial
(
self
.
problem
[
param
],
value
)
if
lam_g
is
not
None
:
opti
.
set_initial
(
opti
.
lam_g
,
lam_g
)
# Set numerical backend, with options if provided
if
solver_options
:
opti
.
solver
(
'
ipopt
'
,
solver_options
)
...
...
@@ -48,6 +51,7 @@ class Optimizer:
plt
.
show
()
# opti.callback(print_intermediates_callback)
...
...
@@ -62,6 +66,7 @@ class Optimizer:
'
status
'
:
status
,
'
solution
'
:
sol
,
}
# print(f"Final total = {sol.value(self.problem['cost'])}")
# print(f"robot costs = {sol.value(self.problem['robot_cost'])}")
...
...
@@ -75,4 +80,8 @@ class Optimizer:
if
var_name
!=
'
opti
'
:
results
[
var_name
]
=
sol
.
value
(
var
)
return
results
opti
=
self
.
problem
[
'
opti
'
]
lam_g
=
sol
.
value
(
opti
.
lam_g
)
results
[
'
lam_g
'
]
=
lam_g
return
results
,
sol
This diff is collapsed.
Click to expand it.
guided_mrmp/tests/test_traj_opt.py
+
3
−
2
View file @
202c2569
...
...
@@ -352,11 +352,12 @@ if __name__ == "__main__":
import
time
start
=
time
.
time
()
sol
,
pos
,
vels
,
omegas
,
xs
,
ys
,
thetas
,
T
=
solver
.
solve
(
N
,
x_range
,
y_range
,
initial_guesses
,
solver_options
)
old_sol
,
sol
,
pos
,
vels
,
omegas
,
xs
,
ys
,
thetas
,
T
=
solver
.
solve
(
N
,
x_range
,
y_range
,
initial_guesses
,
solver_options
)
end
=
time
.
time
()
# plot_paths_db(circle_obs, num_robots, robot_starts, robot_goals, pos, None, x_range, y_range, rob_radius, "Optimizer solution")
# plot_sim(xs, ys, thetas, x_range, y_range, rob_radius, "Optimizer solution")
...
...
@@ -411,7 +412,7 @@ if __name__ == "__main__":
import
time
start
=
time
.
time
()
sol
,
pos
,
vels
,
omegas
,
xs
,
ys
,
thetas
,
T
=
solver
.
solve
(
N
,
x_range
,
y_range
,
initial_guesses
,
solver_options
)
lam_g
,
sol
,
pos
,
vels
,
omegas
,
xs
,
ys
,
thetas
,
T
=
solver
.
solve
(
N
,
x_range
,
y_range
,
initial_guesses
,
solver_options
,
old_sol
)
end
=
time
.
time
()
...
...
This diff is collapsed.
Click to expand it.
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