Comments (2)
rikba
commented on August 17, 2024
Hi @chhtz
I think currently it's only possible to give one set of constraints per trajectory. You'd have to define an optimization problem for each trajectory with different constaints and concatenate these afterwards..
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chhtz
commented on August 17, 2024
Thanks for the response. Not sure, how I would get smooth transitions between the sub-trajectories with your suggestion.
What I'm doing at the moment is manually calculating the segment-times (using computeTimeVelocityRamp) and just do a linear optimization based on that. I'm sure, I'll overshoot near the transition points, but for now this is sufficient for me.
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Related Issues (20)
- catkin build error HOT 2
- Unable to run example.launch HOT 3
- Documentation neglects to mention certain installation dependencies HOT 1
- Segment Cost computation HOT 1
- omav reference angular acceleraion HOT 2
- time budget
- Message type conflict: PolynomialTrajectory with PolynomialTrajectory4D HOT 1
- Missing dependency to yaml_cpp_catkin HOT 1
- reaching maximum velocity as soon as possible HOT 2
- Isolated build fails
- undefined reference to `YAML::detail::node_data::push_back(YAML::detail::node&, boost::shared_ptr<YAML::detail::memory_holder>)' HOT 1
- How do I update the planner in example.launch? HOT 1
- Can't roslaunch HOT 1
- After adding a few more waypoints, the example does not work HOT 1
- catkin_build problem
- Issues on step catkin build mav_trajectory_generation_ros
- wrong number of all constraints
- Can we add nonholonomic constraints in this optimization problem? HOT 1
- Installation on Noetic HOT 1
- What's the meaning of the orange line?
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