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@Jianshu-Hu Jianshu-Hu commented Jul 2, 2020 •
edited by mposa
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Major feature: create function to search the task space and get the costs
This is just a early version.
Urgent thing here is how to combine the intersected codes (trajectory optimization) between find_goldilocks_model and find_boundary.

This change is Reviewable

Jianshu-Hu added 30 commits May 23, 2020 11:36
@Jianshu-Hu
update find_boundary (unfinished)
ee174f0
@Jianshu-Hu
successfully build(unfinished)
b0d0ea3
@Jianshu-Hu
finished search algorithm
7437e3d
@Jianshu-Hu
debug for sample_index
0216ac9
@Jianshu-Hu
update index for trajectory optimization and use cost to judge qualit…
0919cee 
…y of solutions
@Jianshu-Hu
set the initial guess for trajecoty optimization
a952223
@Jianshu-Hu
generalize the search algorithm
cd94e5b
@Jianshu-Hu
debug for initial guess
e02e644
@Jianshu-Hu
add filter for directions
df4eac5
@Jianshu-Hu
Merge branch 'goldilocks-model-dev' into find-boundary
c784e9c
@Jianshu-Hu
small update
fdbadbc
@Jianshu-Hu
update function used for visualization
96807a5
@Jianshu-Hu
different threshold of cost for different robots
0493f08
@Jianshu-Hu
upadte step size and set a flag to indicate calculating nominal cost
75fd6c2
@Jianshu-Hu
check the adjacent sample cost
cbc356b
@Jianshu-Hu
update method of using adjacent sample to judge the solution
c24403f
@Jianshu-Hu
change the scale option for snope with cassie
cd775ea
@Jianshu-Hu
update theta_index
fc0eb30
@Jianshu-Hu
update theta_index
78ff1da
@Jianshu-Hu
set theta index as a flag
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@Jianshu-Hu
cout more information
3db7c30
@Jianshu-Hu
set the snopt scale option as 2 for five_link robot
b85ff1b
@Jianshu-Hu
change the snopt option back to 0 for five_link robot
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@Jianshu-Hu
now the snopt option for five_link is 0 and for cassie is 2
904ccd5
@Jianshu-Hu
set good initial guess for central point while using optimized model
fc64093
@Jianshu-Hu
set the snopt option as 2 for five_link robot
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@Jianshu-Hu
update central point evaluation to make sure getting a good solution
b728da8
@Jianshu-Hu
save more information in boundary_point
d249465
@Jianshu-Hu
add more reruns for each sample to make sure getting a successful sol…
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…ution
@Jianshu-Hu
try different methods to rerun to make sure all samples get successfu…
4c3dd90 
…l solutions
Jianshu-Hu and others added 30 commits July 5, 2020 19:43
@Jianshu-Hu
fix a bug in initial_guess.cc;Wrongly use the normalize()
abf9e88
@Jianshu-Hu
fix a bug in initial_guess.cc;Wringly use the function normalized()
0990cbf
@Jianshu-Hu
merge
b63615a
@Jianshu-Hu
modify
a02f039
@Jianshu-Hu
adjust the delta for tasks
38b502c
@Jianshu-Hu
minor change
ee8fa46
@Jianshu-Hu
set the cost threshold same for nominal and usual case
7ac34d7
@Jianshu-Hu
fix a bug for providing initial guess for first sample in a line
47065da
@Jianshu-Hu
add a flag used for continuing program from midpoint
b4a42c1
@Jianshu-Hu
update functions used for plotting landscape
2f4da02
@Jianshu-Hu
minor change
e290486
@Jianshu-Hu
Update initial_guess.cc
fbd28d2
@Jianshu-Hu
merge with goldilocks-model-dev
c0ef6de
@Jianshu-Hu
merge with goldilocks-model-dev
384a3d5
@Jianshu-Hu
merge with goldilocks-model-dev
8a00333
@Jianshu-Hu
modify the plotting functions for plotting cost landscape
4e54329
@Jianshu-Hu
specify the color discretization for each segment
713ea3d
@Jianshu-Hu
update plotting functions
6d1cdda
@Jianshu-Hu
merge with goldilocks-model-dev and add the ipopt to help failed samples
090bce7
@Jianshu-Hu
update plotting functions
0e69614
@Jianshu-Hu
small update
772ffd0
@Jianshu-Hu
add a function to try one intermediate sample to help
13ee0c3
@Jianshu-Hu
update plotting functions and the main program
6fa1066
@Jianshu-Hu
fix a bug related to creating intermediate sample
fe5b0bf
@Jianshu-Hu
updating plotting function to fit the incomplete data
41baac5
@Jianshu-Hu
update plotting functions and find_boundary
1b03c0b
@Jianshu-Hu
updating plotting functions
90a0bc4
@Jianshu-Hu
add comments to plotting functions and finalize the version of plotti…
8098f58 
…ng functions
@Jianshu-Hu
add the plotting for optimization range
1aff54e
@Jianshu-Hu
add a flag so the data generated from find_boundary can be visualized
826c464
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@Jianshu-Hu @yminchen