include/hpp/manipulation/fwd.hh · da621d221c220cb1d650757fb0aa92402c0809c8 · Guilhem Saurel / hpp-manipulation

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5 years ago

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[CrossStateOptimization] Decouple waypoint computations · da621d22

Florent Lamiraux authored 5 years ago

  - create one solver by waypoint,
  - detect for each parameterizable constraint and each waypoint if
    - the right hand side is equal to the right hand side for initial config,
    - the right hand side is equal to the right hand side for goal config,
    - the right hand side is equal to the right hand side for previous waypoint.
  - iteratively solve waypoints after initializing right hand sides.

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[CrossStateOptimization] Decouple waypoint computations

Florent Lamiraux authored 5 years ago

  - create one solver by waypoint,
  - detect for each parameterizable constraint and each waypoint if
    - the right hand side is equal to the right hand side for initial config,
    - the right hand side is equal to the right hand side for goal config,
    - the right hand side is equal to the right hand side for previous waypoint.
  - iteratively solve waypoints after initializing right hand sides.