Add warmstart implementation for warmstart from reference points #111
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ArthurH91
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Dec 11, 2024
MaximilienNaveau
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Dec 11, 2024
Co-authored-by: Arthur Haffemayer <[email protected]>
Co-authored-by: Arthur Haffemayer <[email protected]>
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Kotochleb
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Dec 11, 2024
numpy types Co-authored-by: Krzysztof Wojciechowski <[email protected]>
numpy types Co-authored-by: Krzysztof Wojciechowski <[email protected]>
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for more information, see https://pre-commit.ci
Kotochleb
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Dec 11, 2024
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When I think of it now, maybe the documentation should be filled in on the WarmStartBase class side and then it can be assumed to be inherited later on.
It should also be extended in the base class and WarmStartReference is still missing a loat of documentation
Co-authored-by: Krzysztof Wojciechowski <[email protected]>
for more information, see https://pre-commit.ci
MaximilienNaveau
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Dec 11, 2024
kzorina
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ArthurH91,
MaximilienNaveau,
petrikvladimir and
Kotochleb
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Kotochleb
suggested changes
Dec 12, 2024
Co-authored-by: Krzysztof Wojciechowski <[email protected]>
for more information, see https://pre-commit.ci
Co-authored-by: Krzysztof Wojciechowski <[email protected]>
for more information, see https://pre-commit.ci
Kotochleb
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Dec 13, 2024
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| The warmstart should generate the initial values for state and control trajectories, | ||
| based on the initial robot state and a reference trajectory. |
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| The warmstart should generate the initial values for state and control trajectories, | |
| based on the initial robot state and a reference trajectory. | |
| The warmstart is expected to generate the initial values for state and control trajectories, | |
| based on the initial robot state and a reference trajectory. |
| ... | ||
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| def update_previous_solution( | ||
| self, previous_solution: list[TrajectoryPoint] | ||
| ) -> None: | ||
| """Stores internally the previous solution of the OCP""" | ||
| """ | ||
| This method stores the solution from a previous optimization cycle. |
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Suggested change
| This method stores the solution from a previous optimization cycle. | |
| Store the solution from a previous optimization cycle. |
| from agimus_controller.trajectory import TrajectoryPoint | ||
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| class WarmStartReference(WarmStartBase): |
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Do we add docstring explaining what this warmstart implements?
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