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e5b6f6f9

Commit e5b6f6f9 authored 8 years ago by mnaveau

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work on 5ms SQP, found some solution for avoiding large acceleration at the end of the step.

parent d9def00f

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src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp 7 additions, 6 deletions

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp
src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp 169 additions, 67 deletions

src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp
src/ZMPRefTrajectoryGeneration/nmpc_generator.hh 12 additions, 3 deletions

src/ZMPRefTrajectoryGeneration/nmpc_generator.hh
tests/TestNaveau2015.cpp 10 additions, 8 deletions

tests/TestNaveau2015.cpp

with 198 additions and 84 deletions

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