[roboptim-commit] [SCM] roboptim branch, trajectory, updated. 528faeec205f8e035f93e61a9c04463650cde
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[roboptim-commit] [SCM] roboptim branch, trajectory, updated. 528faeec205f8e035f93e61a9c04463650cde983
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From: Thomas M. <tho...@us...> - 2009-08-13 11:41:36
|
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The branch, trajectory has been updated
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- Log -----------------------------------------------------------------
commit 528faeec205f8e035f93e61a9c04463650cde983
Author: Thomas Moulard <tho...@gm...>
Date: Thu Aug 13 20:40:51 2009 +0900
Make regular constraint add more robust.
* include/roboptim/trajectory/frontal-speed.hxx,
* include/roboptim/trajectory/limit-speed.hxx,
* include/roboptim/trajectory/orthogonal-speed.hxx,
* tests/spline-time-optimization.stdout: Make addToProblem
methods more robust.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index ed2643a..adf6d85 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,12 @@
+2009-08-13 Thomas Moulard <tho...@gm...>
+
+ Make regular constraint add more robust.
+ * include/roboptim/trajectory/frontal-speed.hxx,
+ * include/roboptim/trajectory/limit-speed.hxx,
+ * include/roboptim/trajectory/orthogonal-speed.hxx,
+ * tests/spline-time-optimization.stdout: Make addToProblem
+ methods more robust.
+
2009-08-07 Thomas Moulard <tho...@gm...>
Optimize.
diff --git a/include/roboptim/trajectory/frontal-speed.hxx b/include/roboptim/trajectory/frontal-speed.hxx
index 10756b9..dee6b47 100644
--- a/include/roboptim/trajectory/frontal-speed.hxx
+++ b/include/roboptim/trajectory/frontal-speed.hxx
@@ -133,15 +133,13 @@ namespace roboptim
unsigned nConstraints)
{
using namespace boost;
- if (nConstraints == 0)
- return;
- const value_type delta = 1. / nConstraints;
-
- for (double i = delta; i < 1. - delta; i += delta)
+ for (unsigned i = 0; i < nConstraints; ++i)
{
+ const value_type t = (i + 1.) / (nConstraints + 1.);
+ assert (t > 0. && t < 1.);
shared_ptr<LimitFrontalSpeed> speed
- (new LimitFrontalSpeed (i * tMax, trajectory));
+ (new LimitFrontalSpeed (t * tMax, trajectory));
problem.addConstraint
(static_pointer_cast<DerivableFunction> (speed),
vRange);
diff --git a/include/roboptim/trajectory/limit-speed.hxx b/include/roboptim/trajectory/limit-speed.hxx
index 3a5a3e0..85b3414 100644
--- a/include/roboptim/trajectory/limit-speed.hxx
+++ b/include/roboptim/trajectory/limit-speed.hxx
@@ -96,14 +96,12 @@ namespace roboptim
unsigned nConstraints)
{
using namespace boost;
- if (nConstraints == 0)
- return;
- const value_type delta = 1. / nConstraints;
-
- for (double i = delta; i < 1. - delta; i += delta)
+ for (unsigned i = 0; i < nConstraints; ++i)
{
- shared_ptr<LimitSpeed> speed (new LimitSpeed (i * tMax, trajectory));
+ const value_type t = (i + 1.) / (nConstraints + 1.);
+ assert (t > 0. && t < 1.);
+ shared_ptr<LimitSpeed> speed (new LimitSpeed (t * tMax, trajectory));
problem.addConstraint
(static_pointer_cast<DerivableFunction> (speed),
vRange);
diff --git a/include/roboptim/trajectory/orthogonal-speed.hxx b/include/roboptim/trajectory/orthogonal-speed.hxx
index b7f3b4a..2603181 100644
--- a/include/roboptim/trajectory/orthogonal-speed.hxx
+++ b/include/roboptim/trajectory/orthogonal-speed.hxx
@@ -125,26 +125,23 @@ namespace roboptim
template <typename F, typename CLIST>
void
LimitOrthogonalSpeed<T>::addToProblem (const T& trajectory,
- Problem<F, CLIST>& problem,
- typename Function::interval_t vRange,
- unsigned nConstraints)
+ Problem<F, CLIST>& problem,
+ typename Function::interval_t vRange,
+ unsigned nConstraints)
{
using namespace boost;
- if (nConstraints == 0)
- return;
- const value_type delta = 1. / nConstraints;
-
- for (double i = delta; i < 1. - delta; i += delta)
+ for (unsigned i = 0; i < nConstraints; ++i)
{
+ const value_type t = (i + 1.) / (nConstraints + 1.);
+ assert (t > 0. && t < 1.);
shared_ptr<LimitOrthogonalSpeed> speed
- (new LimitOrthogonalSpeed (i * tMax, trajectory));
+ (new LimitOrthogonalSpeed (t * tMax, trajectory));
problem.addConstraint
(static_pointer_cast<DerivableFunction> (speed),
vRange);
}
}
-
} // end of namespace roboptim.
diff --git a/tests/spline-time-optimization.stdout b/tests/spline-time-optimization.stdout
index b36205e..e69de29 100644
--- a/tests/spline-time-optimization.stdout
+++ b/tests/spline-time-optimization.stdout
@@ -1,683 +0,0 @@
-Problem:
- Numeric linear function
- A = [1,12]((-1,0,0,0,0,0,0,0,0,0,0,0))
- B = [1](0)
- Argument's bounds: (0, inf), (0, 0), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (200, 200)
- Argument's scales: 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1
- Number of constraints: 109
- Constraint 0
- speed limit (0.00909091) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](0.0637334)
-
- Constraint 1
- speed limit (0.0181818) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1.01973)
-
- Constraint 2
- speed limit (0.0272727) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](5.1624)
-
- Constraint 3
- speed limit (0.0363636) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](16.3157)
-
- Constraint 4
- speed limit (0.0454545) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](39.8333)
-
- Constraint 5
- speed limit (0.0545455) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](82.5984)
-
- Constraint 6
- speed limit (0.0636364) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](153.024)
-
- Constraint 7
- speed limit (0.0727273) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](261.052)
-
- Constraint 8
- speed limit (0.0818182) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](418.155)
-
- Constraint 9
- speed limit (0.0909091) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](619.753)
-
- Constraint 10
- speed limit (0.1) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](832.32)
-
- Constraint 11
- speed limit (0.109091) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1043.3)
-
- Constraint 12
- speed limit (0.118182) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1242.24)
-
- Constraint 13
- speed limit (0.127273) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1420.22)
-
- Constraint 14
- speed limit (0.136364) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1569.85)
-
- Constraint 15
- speed limit (0.145455) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1685.26)
-
- Constraint 16
- speed limit (0.154545) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1762.12)
-
- Constraint 17
- speed limit (0.163636) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1797.62)
-
- Constraint 18
- speed limit (0.172727) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 19
- speed limit (0.181818) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 20
- speed limit (0.190909) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 21
- speed limit (0.2) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 22
- speed limit (0.209091) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 23
- speed limit (0.218182) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 24
- speed limit (0.227273) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 25
- speed limit (0.236364) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 26
- speed limit (0.245455) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 27
- speed limit (0.254545) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 28
- speed limit (0.263636) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 29
- speed limit (0.272727) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 30
- speed limit (0.281818) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 31
- speed limit (0.290909) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 32
- speed limit (0.3) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 33
- speed limit (0.309091) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 34
- speed limit (0.318182) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 35
- speed limit (0.327273) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 36
- speed limit (0.336364) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 37
- speed limit (0.345455) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 38
- speed limit (0.354545) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 39
- speed limit (0.363636) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 40
- speed limit (0.372727) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 41
- speed limit (0.381818) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 42
- speed limit (0.390909) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 43
- speed limit (0.4) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 44
- speed limit (0.409091) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 45
- speed limit (0.418182) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 46
- speed limit (0.427273) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 47
- speed limit (0.436364) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 48
- speed limit (0.445455) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 49
- speed limit (0.454545) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 50
- speed limit (0.463636) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 51
- speed limit (0.472727) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 52
- speed limit (0.481818) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 53
- speed limit (0.490909) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 54
- speed limit (0.5) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 55
- speed limit (0.509091) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 56
- speed limit (0.518182) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 57
- speed limit (0.527273) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 58
- speed limit (0.536364) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 59
- speed limit (0.545455) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 60
- speed limit (0.554545) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 61
- speed limit (0.563636) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 62
- speed limit (0.572727) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 63
- speed limit (0.581818) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 64
- speed limit (0.590909) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 65
- speed limit (0.6) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 66
- speed limit (0.609091) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 67
- speed limit (0.618182) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 68
- speed limit (0.627273) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 69
- speed limit (0.636364) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 70
- speed limit (0.645455) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 71
- speed limit (0.654545) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 72
- speed limit (0.663636) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 73
- speed limit (0.672727) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 74
- speed limit (0.681818) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 75
- speed limit (0.690909) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 76
- speed limit (0.7) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 77
- speed limit (0.709091) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 78
- speed limit (0.718182) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 79
- speed limit (0.727273) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 80
- speed limit (0.736364) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 81
- speed limit (0.745455) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 82
- speed limit (0.754545) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 83
- speed limit (0.763636) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 84
- speed limit (0.772727) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 85
- speed limit (0.781818) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 86
- speed limit (0.790909) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 87
- speed limit (0.8) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 88
- speed limit (0.809091) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 89
- speed limit (0.818182) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 90
- speed limit (0.827273) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1800)
-
- Constraint 91
- speed limit (0.836364) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1797.62)
-
- Constraint 92
- speed limit (0.845455) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1762.12)
-
- Constraint 93
- speed limit (0.854545) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1685.26)
-
- Constraint 94
- speed limit (0.863636) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1569.85)
-
- Constraint 95
- speed limit (0.872727) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1420.22)
-
- Constraint 96
- speed limit (0.881818) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1242.24)
-
- Constraint 97
- speed limit (0.890909) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1043.3)
-
- Constraint 98
- speed limit (0.9) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](832.32)
-
- Constraint 99
- speed limit (0.909091) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](619.753)
-
- Constraint 100
- speed limit (0.918182) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](418.155)
-
- Constraint 101
- speed limit (0.927273) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](261.052)
-
- Constraint 102
- speed limit (0.936364) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](153.024)
-
- Constraint 103
- speed limit (0.945455) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](82.5984)
-
- Constraint 104
- speed limit (0.954545) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](39.8333)
-
- Constraint 105
- speed limit (0.963636) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](16.3157)
-
- Constraint 106
- speed limit (0.972727) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](5.1624)
-
- Constraint 107
- speed limit (0.981818) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](1.01973)
-
- Constraint 108
- speed limit (0.990909) (derivable function)
- Bounds: (-inf, 3612.5)
- Scales: 1
- Initial value: [1](0.0637334)
-
- Starting point: [12](1,0,20,40,60,80,100,120,140,160,180,200)
- Starting value: [1](-1)
- Infinity value (for all functions): inf
-CFSQP specific variables:
- Nineq: 109
- Nineqn: 109
- Neq: 0
- Neqn: 0
- Mode: 100
- Iprint: 0
- Miter: 500
- Bigbnd: 1e+10
- Eps: 1e-08
- Epseqn: 1e-08
- Udelta: 1e-08
- CFSQP constraints: (0, 0), (1, 0), (2, 0), (3, 0), (4, 0), (5, 0), (6, 0), (7, 0), (8, 0), (9, 0), (10, 0), (11, 0), (12, 0), (13, 0), (14, 0), (15, 0), (16, 0), (17, 0), (18, 0), (19, 0), (20, 0), (21, 0), (22, 0), (23, 0), (24, 0), (25, 0), (26, 0), (27, 0), (28, 0), (29, 0), (30, 0), (31, 0), (32, 0), (33, 0), (34, 0), (35, 0), (36, 0), (37, 0), (38, 0), (39, 0), (40, 0), (41, 0), (42, 0), (43, 0), (44, 0), (45, 0), (46, 0), (47, 0), (48, 0), (49, 0), (50, 0), (51, 0), (52, 0), (53, 0), (54, 0), (55, 0), (56, 0), (57, 0), (58, 0), (59, 0), (60, 0), (61, 0), (62, 0), (63, 0), (64, 0), (65, 0), (66, 0), (67, 0), (68, 0), (69, 0), (70, 0), (71, 0), (72, 0), (73, 0), (74, 0), (75, 0), (76, 0), (77, 0), (78, 0), (79, 0), (80, 0), (81, 0), (82, 0), (83, 0), (84, 0), (85, 0), (86, 0), (87, 0), (88, 0), (89, 0), (90, 0), (91, 0), (92, 0), (93, 0), (94, 0), (95, 0), (96, 0), (97, 0), (98, 0), (99, 0), (100, 0), (101, 0), (102, 0), (103, 0), (104, 0), (105, 0), (106, 0), (107, 0), (108, 0)
-Result:
- Size (input, output): 12, 1
- X: [12](1.41692,4.45554e-39,20.0686,40.0104,60.0077,80.0035,100,119.996,139.992,159.99,179.931,200)
- Value: [1](-1.41692)
- Constraints values: [109](0.128834,2.06134,10.4356,32.9815,80.5212,166.969,309.33,527.704,845.28,1252.69,1681.87,2107.31,2507.8,2865.24,3164.69,3394.32,3545.45,3612.5,3612.5,3608.42,3605.12,3602.6,3600.87,3599.92,3599.76,3600.37,3601.77,3603.83,3605.76,3607.46,3608.91,3610.11,3611.08,3611.8,3612.27,3612.5,3612.5,3612.45,3612.41,3612.38,3612.36,3612.35,3612.35,3612.35,3612.37,3612.39,3612.41,3612.43,3612.45,3612.47,3612.48,3612.49,3612.49,3612.5,3612.5,3612.5,3612.49,3612.49,3612.48,3612.47,3612.45,3612.43,3612.41,3612.39,3612.37,3612.35,3612.35,3612.35,3612.36,3612.38,3612.41,3612.45,3612.5,3612.5,3612.27,3611.8,3611.08,3610.11,3608.91,3607.46,3605.76,3603.83,3601.77,3600.37,3599.76,3599.92,3600.87,3602.6,3605.12,3608.42,3612.5,3612.5,3545.45,3394.32,3164.69,2865.24,2507.8,2107.31,1681.87,1252.69,845.28,527.704,309.33,166.969,80.5212,32.9815,10.4356,2.06134,0.128834)
- Lambda: [109](0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.60733e-05,1.31597e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.31596e-05,2.60734e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.91812e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.60734e-05,1.31595e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.31595e-05,2.60732e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1)
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 9 +
include/roboptim/trajectory/frontal-speed.hxx | 10 +-
include/roboptim/trajectory/limit-speed.hxx | 10 +-
include/roboptim/trajectory/orthogonal-speed.hxx | 17 +-
tests/spline-time-optimization.stdout | 683 ----------------------
5 files changed, 24 insertions(+), 705 deletions(-)
hooks/post-receive
--
roboptim
|
