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Find boundary #171

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ee174f0
update find_boundary (unfinished)
Jianshu-Hu May 23, 2020
b0d0ea3
successfully build(unfinished)
Jianshu-Hu May 23, 2020
7437e3d
finished search algorithm
Jianshu-Hu May 24, 2020
0216ac9
debug for sample_index
Jianshu-Hu May 25, 2020
0919cee
update index for trajectory optimization and use cost to judge qualit…
Jianshu-Hu May 25, 2020
a952223
set the initial guess for trajecoty optimization
Jianshu-Hu May 26, 2020
cd94e5b
generalize the search algorithm
Jianshu-Hu May 28, 2020
e02e644
debug for initial guess
Jianshu-Hu May 28, 2020
df4eac5
add filter for directions
Jianshu-Hu May 28, 2020
c784e9c
Merge branch 'goldilocks-model-dev' into find-boundary
Jianshu-Hu May 28, 2020
fdbadbc
small update
Jianshu-Hu May 28, 2020
96807a5
update function used for visualization
Jianshu-Hu May 29, 2020
0493f08
different threshold of cost for different robots
Jianshu-Hu May 29, 2020
75fd6c2
upadte step size and set a flag to indicate calculating nominal cost
Jianshu-Hu Jun 1, 2020
cbc356b
check the adjacent sample cost
Jianshu-Hu Jun 1, 2020
c24403f
update method of using adjacent sample to judge the solution
Jianshu-Hu Jun 2, 2020
cd775ea
change the scale option for snope with cassie
Jianshu-Hu Jun 2, 2020
fc0eb30
update theta_index
Jianshu-Hu Jun 5, 2020
78ff1da
update theta_index
Jianshu-Hu Jun 6, 2020
94d16b1
set theta index as a flag
Jianshu-Hu Jun 6, 2020
3db7c30
cout more information
Jianshu-Hu Jun 6, 2020
b85ff1b
set the snopt scale option as 2 for five_link robot
Jianshu-Hu Jun 8, 2020
cb8f1f7
change the snopt option back to 0 for five_link robot
Jianshu-Hu Jun 8, 2020
904ccd5
now the snopt option for five_link is 0 and for cassie is 2
Jianshu-Hu Jun 8, 2020
fc64093
set good initial guess for central point while using optimized model
Jianshu-Hu Jun 8, 2020
6d1c11f
set the snopt option as 2 for five_link robot
Jianshu-Hu Jun 8, 2020
b728da8
update central point evaluation to make sure getting a good solution
Jianshu-Hu Jun 9, 2020
d249465
save more information in boundary_point
Jianshu-Hu Jun 12, 2020
1f52bf0
add more reruns for each sample to make sure getting a successful sol…
Jianshu-Hu Jun 17, 2020
4c3dd90
try different methods to rerun to make sure all samples get successfu…
Jianshu-Hu Jun 17, 2020
00b5247
debug for rerun
Jianshu-Hu Jun 18, 2020
864100b
add program name
Jianshu-Hu Jun 18, 2020
29512ad
save boundary point infor
Jianshu-Hu Jun 18, 2020
2425089
make sure all samples success while checking cost
Jianshu-Hu Jun 18, 2020
4b568b8
move definition ofseveral variables
Jianshu-Hu Jun 18, 2020
5668fd3
fix using the solutions from ROM optimization to set initial guesses.…
Jianshu-Hu Jun 26, 2020
dbd6b1f
merge with set-initial-guess and the traj opt part in the main functi…
Jianshu-Hu Jun 28, 2020
b58251b
parts of the modification
Jianshu-Hu Jun 28, 2020
812150d
Merge branch 'set-initial-guess' into find-boundary
Jianshu-Hu Jun 29, 2020
8029d52
Task need to be set later
Jianshu-Hu Jun 29, 2020
79071a3
Merge branch 'set-initial-guess' into find-boundary
Jianshu-Hu Jun 29, 2020
4f85ab5
add class
Jianshu-Hu Jun 29, 2020
2cfd826
add search_setting into main functions
Jianshu-Hu Jun 30, 2020
4a2d555
Merge branch 'goldilocks-model-dev' into find-boundary
Jianshu-Hu Jun 30, 2020
8f5b883
Merge branch 'goldilocks-model-dev' into find-boundary
Jianshu-Hu Jun 30, 2020
6bbc325
unfinished class searchsetting
Jianshu-Hu Jun 30, 2020
16bf89e
fix small typo
Jianshu-Hu Jun 30, 2020
fa67c96
Merge branch 'goldilocks-test' into find-boundary
Jianshu-Hu Jun 30, 2020
e1ce142
Finished modifying the whole program following the change of find_gol…
Jianshu-Hu Jul 1, 2020
bd6e027
delete one line
Jianshu-Hu Jul 1, 2020
937f58c
add several const in the program
Jianshu-Hu Jul 1, 2020
b9b3e82
Build completely while it stops at first traj opt
Jianshu-Hu Jul 1, 2020
00f3904
fix the bug related redefine variable
Jianshu-Hu Jul 2, 2020
26378a1
small changes related to initial_guess.cc
Jianshu-Hu Jul 2, 2020
7a349ce
modify the class SearchSetting and add the python file used for plotting
Jianshu-Hu Jul 2, 2020
c5c06e8
Merge branch 'goldilocks-model-dev' into goldilocks-test
Jianshu-Hu Jul 2, 2020
c60f1e3
fix the bug in initial_guess_test.cc
Jianshu-Hu Jul 3, 2020
e037f8b
change parts of the codes
Jianshu-Hu Jul 3, 2020
8ac40cf
Modifying the codes as requested
Jianshu-Hu Jul 3, 2020
de1a6d4
generalize the search function
Jianshu-Hu Jul 3, 2020
df786fa
shrink the delta for velocity to 0.005 for test
Jianshu-Hu Jul 4, 2020
9ef90a5
add function of self-defined triangular surf plot
Jianshu-Hu Jul 5, 2020
819b99a
add flags to decide which dimension to search
Jianshu-Hu Jul 5, 2020
ca9fbbd
Merge branch 'goldilocks-test' into find-boundary
Jianshu-Hu Jul 5, 2020
72400e3
fix a bug in initial_guess.cc
Jianshu-Hu Jul 5, 2020
abf9e88
fix a bug in initial_guess.cc;Wrongly use the normalize()
Jianshu-Hu Jul 5, 2020
0990cbf
fix a bug in initial_guess.cc;Wringly use the function normalized()
Jianshu-Hu Jul 5, 2020
b63615a
merge
Jianshu-Hu Jul 5, 2020
a02f039
modify
Jianshu-Hu Jul 5, 2020
38b502c
adjust the delta for tasks
Jianshu-Hu Jul 6, 2020
ee8fa46
minor change
Jianshu-Hu Jul 7, 2020
7ac34d7
set the cost threshold same for nominal and usual case
Jianshu-Hu Jul 9, 2020
47065da
fix a bug for providing initial guess for first sample in a line
Jianshu-Hu Jul 10, 2020
b4a42c1
add a flag used for continuing program from midpoint
Jianshu-Hu Jul 10, 2020
2f4da02
update functions used for plotting landscape
Jianshu-Hu Jul 11, 2020
e290486
minor change
Jianshu-Hu Jul 12, 2020
fbd28d2
Update initial_guess.cc
Jianshu-Hu Jul 15, 2020
c0ef6de
merge with goldilocks-model-dev
Jianshu-Hu Jul 16, 2020
384a3d5
merge with goldilocks-model-dev
Jianshu-Hu Jul 17, 2020
8a00333
merge with goldilocks-model-dev
Jianshu-Hu Jul 18, 2020
4e54329
modify the plotting functions for plotting cost landscape
Jianshu-Hu Aug 27, 2020
713ea3d
specify the color discretization for each segment
Jianshu-Hu Aug 28, 2020
6d1cdda
update plotting functions
Jianshu-Hu Aug 29, 2020
090bce7
merge with goldilocks-model-dev and add the ipopt to help failed samples
Jianshu-Hu Aug 29, 2020
0e69614
update plotting functions
Jianshu-Hu Aug 31, 2020
772ffd0
small update
Jianshu-Hu Aug 31, 2020
13ee0c3
add a function to try one intermediate sample to help
Jianshu-Hu Sep 1, 2020
6fa1066
update plotting functions and the main program
Jianshu-Hu Sep 2, 2020
fe5b0bf
fix a bug related to creating intermediate sample
Jianshu-Hu Sep 2, 2020
41baac5
updating plotting function to fit the incomplete data
Jianshu-Hu Sep 3, 2020
1b03c0b
update plotting functions and find_boundary
Jianshu-Hu Sep 3, 2020
90a0bc4
updating plotting functions
Jianshu-Hu Sep 3, 2020
8098f58
add comments to plotting functions and finalize the version of plotti…
Jianshu-Hu Sep 4, 2020
1aff54e
add the plotting for optimization range
Jianshu-Hu Sep 4, 2020
826c464
add a flag so the data generated from find_boundary can be visualized
Jianshu-Hu Sep 6, 2020
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18 changes: 18 additions & 0 deletions examples/goldilocks_models/BUILD.bazel
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,24 @@ cc_binary(
],
)

cc_binary(
name = "find_boundary",
srcs = ["find_boundary.cc"],
deps = [
":goldilocks_utils",
":task",
"//common:eigen_utils",
"//common:file_utils",
"//examples/Cassie:cassie_utils",
"//examples/goldilocks_models/find_models:initial_guess",
"//examples/goldilocks_models/find_models:traj_opt_given_weigths",
"//systems/trajectory_optimization:dircon",
"@drake//:drake_shared_library",
"@gflags",
"//examples/goldilocks_models/find_boundary_utils:search_setting",
],
)

cc_binary(
name = "plan_with_rom_fom_five_link",
srcs = ["plan_with_rom_fom_five_link.cc"],
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