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Question about osqp solver

Open ImCabbage opened this issue 5 years ago • 0 comments

Hi, I would like to know where do the -cos(theta) and -sin(theta) come from in function setConstraintMatrix (tension_smoother.cpp). Is it related to the frenet coordinates transformation? If it is possible, is there any material about transforming the reference line smoothing problem to qp form? I want to know how to build the hessian, gradient and constraint matrix from scratch. Thank you.

ImCabbage avatar Sep 11 '20 06:09 ImCabbage