Giter Site home page Giter Site logo

Comments (6)

LiJiangnanBit avatar LiJiangnanBit commented on June 9, 2024

其实都是一些常见的代价和约束，目前没有整理相关的资料，有哪部分存在疑问可以贴出来讨论哈

from path_optimizer_2.

HandsomeJunJun avatar HandsomeJunJun commented on June 9, 2024

首先感谢大佬的回复。
我觉得这个代码中最最最重要的部分就是base_solver.cpp部分；目前有两个小问题，第一个就是osqp-eigen中的优化变量都有哪些，第二个这path_optimizer_2中我还没有找到笛卡尔坐标系转frenet坐标系。

from path_optimizer_2.

LiJiangnanBit avatar LiJiangnanBit commented on June 9, 2024

@HandsomeJunJun
这里每个离散的车辆状态是三个量表示的：参考线横向偏差、参考线角度偏差、曲率，控制量是曲率变化率。总共有n个状态，所以优化的变量就是3n + n - 1个；除了这些之外，碰撞约束都是软约束，所以会有一些松弛变量。如下图：
image

笛卡尔坐标系转frenet是这个函数：
image

from path_optimizer_2.

HandsomeJunJun avatar HandsomeJunJun commented on June 9, 2024

好哒，跪谢大佬；俺先研究一段时间。

from path_optimizer_2.

JianLi0-0 avatar JianLi0-0 commented on June 9, 2024

好哒，跪谢大佬；俺先研究一段时间。

兄弟，请问有找到一些参考资料吗，方不方便分享下

from path_optimizer_2.

JianLi0-0 avatar JianLi0-0 commented on June 9, 2024

Screenshot from 2024-05-15 18-42-11
转移矩阵这块推导不出来，大佬方便讲解下吗

from path_optimizer_2.

Related Issues (9)

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google ❤️ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.