Modifications and improvements to the base functionalities #9
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…ng solver The structure is equivalent to the input structure and should help in simplifying the definition of costs and constraints over the horizon
In multiple shooting solver, exploit the base name in case the initial condition name is not set
This automatically adds the union of the type with a list of the same type
It is also possible to retrieve the guess back once it has been set
Added method to solve the problem
This is in case some variable/parameter is not present in the cost/constraints
Renamed Stopping to Callback
…ave time in the callback
S-Dafarra
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I have just pruned the history from some useless commit that remained after rebasing |
traversaro
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Jan 15, 2024
rob-mau
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Jan 15, 2024
diegoferigo
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Jan 16, 2024
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LGTM, nice work! I got a bit lost in the logic of using variables names as I never used this functionality firsthand, but I trust your tests on this. I'm glad to see that the pattern using dataclasses with custom metadata is eventually working pretty well providing also a good flexibility.
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Thank you all, merging and moving to the second 😊 |
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This is the first of three PRs to merge the modifications done in the
humanoidPlanningbranchAmong the notable modifications, we have:
OverridableParameterandOverridableVariable. This is to allow defining some set of predefined composite variables, leaving to the user the possibility to decide of the components need to be considered variables or parametersMultipleShootingSolver. In order to do this, theOptimalControlProblemoutputs also a symbolic structure, where the structure matches the user-defined one, but without being expanded over time.Note that some modifications to the dependencies will be needed in the following PRs.