Commits · 08e2dec0cf11138a011d029ee1ec170bed621164 · rmoan2 / db-guided-mrmp · GitLab

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Oct 29, 2024
- Added code from other repo to find and resolve discrete subproblems. Added... · 08e2dec0
  rachelmoan authored 4 months ago
  
  Added code from other repo to find and resolve discrete subproblems. Added place grid and get starts and goals to traj opt db resolver
  08e2dec0
- Fix the weird oscillations in trajectory plotting. Was caused by a rounding error. · e50d671e
  rachelmoan authored 4 months ago
  
  e50d671e
- update settings file params · eafdfb6c
  rachelmoan authored 4 months ago
  
  eafdfb6c
- improve how we construct bezier curve for initial guess. · b35e8bf3
  rachelmoan authored 4 months ago
  
  b35e8bf3
- delete the old traj opt class in test file, use the one in the main part of code · 0b22b300
  rachelmoan authored 4 months ago
  
  0b22b300
- add library initialization to main · 57a1c38e
  rachelmoan authored 4 months ago
  
  57a1c38e
- Remove old unintegrated traj opt code · b83439cd
  rachelmoan authored 4 months ago
  
  b83439cd
- Adding file to test different initial guesses for conflict resolution to the optimizer · 9ef6148d
  rachelmoan authored 4 months ago
  
  9ef6148d
- Add solver settings, goal weight to traj opt resolver. Delete old unused files · b9e42d9e
  rachelmoan authored 4 months ago
  
  b9e42d9e
Oct 21, 2024
- remove setting ipopt.tol, only set acceptable_tol · e123b73a
  rachelmoan authored 5 months ago
  
  e123b73a
- Rename parallel MPC function. · 29c55cab
  rachelmoan authored 5 months ago
  
  29c55cab
Oct 17, 2024
- Separate out optimizer to be used by multiple problems · e9780817
  rachelmoan authored 5 months ago
  
  e9780817
- Making traj opt resolver more general · cb934865
  rachelmoan authored 5 months ago
  
  cb934865
- Add warm start to MPC · 764b2559
  rachelmoan authored 5 months ago
  
  764b2559
Oct 16, 2024
- delete print stmts · 32c582bc
  rachelmoan authored 5 months ago
  
  32c582bc
- add waypoints and dynamics model as an object in robot class · d467c0d3
  rachelmoan authored 5 months ago
  
  d467c0d3
- Delete unused code · 90c9ed52
  rachelmoan authored 5 months ago
  
  90c9ed52
- added parallelization to the MPC calculation · a2bbca32
  rachelmoan authored 5 months ago
  
  a2bbca32
- traj_opt testing problems straight from the database · 871ec408
  rachelmoan authored 5 months ago
  
  871ec408
- make the curved path have exactly N points · bf47424f
  rachelmoan authored 5 months ago
  
  bf47424f
- Improve the resolution of pygame window by adding scaling factor · 758bfb34
  rachelmoan authored 5 months ago
  
  758bfb34
- Use casadi's acceptable_iter and acceptable_tol parameters when doing MPC · 4072dcb7
  rachelmoan authored 5 months ago
  
  4072dcb7
Sep 09, 2024
- update single agent path tracker · 749fe7df
  rachelmoan authored 6 months ago
  
  749fe7df
- update some init files · 0da2cd08
  rachelmoan authored 6 months ago
  
  0da2cd08
- Add ability to use randm starts and goals · c3fae6d5
  rachelmoan authored 6 months ago
  
  c3fae6d5
- Restructuring optimizer/MPC · e5bf1adb
  rachelmoan authored 6 months ago
  
  e5bf1adb
- Restructuring code a bit · 68daa28c
  rachelmoan authored 6 months ago
  
  68daa28c
Sep 02, 2024
- delete old code · e51d56c8
  rachelmoan authored 6 months ago
  
  e51d56c8
- remove some unused code · 5b5ff222
  rachelmoan authored 6 months ago
  
  5b5ff222
- Adding change in heading to the optimization in order to penalize loopy behavior · c29ee9be
  rachelmoan authored 6 months ago
  
  c29ee9be
- Collision check over horizon instead of dt · b5f6ae91
  rachelmoan authored 6 months ago
  
  b5f6ae91
- Removing some more magic constants · 6e02bdcc
  rachelmoan authored 6 months ago
  
  6e02bdcc
- Removing magic constants · 13ea4763
  rachelmoan authored 6 months ago
  
  13ea4763
- Removing tracker object from robot class · b34189c9
  rachelmoan authored 6 months ago
  
  b34189c9
- Adding current control to robot class to keep track of control · 904c46ce
  rachelmoan authored 6 months ago
  
  904c46ce
- Refactoring the guided mrmp policy to act as one big path tracker for all the robots · ac30f993
  rachelmoan authored 6 months ago
  
  ac30f993
Aug 26, 2024
- Orient the robots' initial heading to be facing the right way at the start · 02317658
  rachelmoan authored 6 months ago
  
  02317658
- remove pointless while loop · 3eb57dab
  rachelmoan authored 6 months ago
  
  3eb57dab
- Testing function that uses the path tracker to create guide paths from waypoints · 5395e03d
  rachelmoan authored 6 months ago
  
  5395e03d
- Separating optimizer from MPC · a0ba2b43
  rachelmoan authored 6 months ago
  
  a0ba2b43