james1kobby

我想问问apollo里面的平滑方法，里面用到了osqp0.4.0,请问这个能不能更新osqp0.6.0，请问为什么不更新？是不是因为osqp0.6.0有什么大坑阻碍了

have a solution for osqp 0.4.0?

6

Hello, what you've provided seems to work for osqp 0.6.0. Do you have a solution for osqp 0.4.0? Lastly, could you please tell me how to use different versions of...

I want to ask what the constraints of the objective function are

3

I want to ask what the constraints of the objective function are； Whether both curvature and curvature change can be constrained 目标函数的形式是怎么样的，能否同时约束曲率和曲率变化率

TypeError: __init__() got an unexpected keyword argument 'winmode

4

Traceback (most recent call last): File "main.py", line 39, in run_nominal_control(chain_params) File "/home/ubuntu/Code_Study/acados/examples/acados_python/chain_mass/run_nominal_control.py", line 196, in run_nominal_control acados_integrator = export_chain_mass_integrator(n_mass, m, D, L) File "/home/ubuntu/Code_Study/acados/examples/acados_python/chain_mass/export_chain_mass_integrator.py", line 78, in export_chain_mass_integrator acados_integrator...

安装，在make的时候出现如下错误

6

Making all in ADOL-C make[1]: Entering directory '/home/ubuntu/SOURCE/adolc-version/adolc_source/ADOL-C-master/ADOL-C' Makefile:525: .deps/dummy.Plo: 没有那个文件或目录 make[1]: *** No rule to make target '.deps/dummy.Plo'。 停止。 make[1]: Leaving directory '/home/ubuntu/SOURCE/adolc-version/adolc_source/ADOL-C-master/ADOL-C' Makefile:537: recipe for target 'all-recursive' failed...

为什么这里一定要在end_psi < 70 * M_PI / 180这种情况下设定这个最后一个路径点的朝向角偏差

4

// End state. (*lower_bound)(end_state_idx) = -1.0; //-OsqpEigen::INFTY; (*upper_bound)(end_state_idx) = 1.0; //OsqpEigen::INFTY; (*lower_bound)(end_state_idx + 1) = -OsqpEigen::INFTY; (*upper_bound)(end_state_idx + 1) = OsqpEigen::INFTY; if (FLAGS_constraint_end_heading && reference_path_.isBlocked() == nullptr) { double end_psi...

为什么用用作者你的算法，进行优化以后，曲率变化和横摆角角度变化不一致。

7

 而且横摆角变化不应该会有毛刺呀， 注意：这里的横摆角度是指的车辆的朝向角

c++17

1

Is there a way to convert C++17 to C++11?