Yifei Shao (yishao at seas.upenn.edu)
This package hooks up the Altro solver with the KR_autonomous flight stack to do constrained trajectory optimization. It can work in 2 ways
- Run the solver in a separate node
- Functions in this package will are called in the action_planner package to run the solver easily
- Altro: When building altro, remember to not include the -march=native flag in the CMakeLists.txt file. After building, install it as a staic library so find_packages() can find it. Forked Altro is not yet publically avaible, and I don't know if the original version works.
- Eigen > 3.4.0
- Don't use finite difference to compute the jacobian of dynamics.
- Move Altro Fork as a dependency inside this repo
- Build planning_detail option to run this.
- Build python binding for generating motion primitives
- MPC style initialization, make it much faster
- Add polyotpe constraints