Tags

(1) Upgrade to C++14. (2) MpcNet code is released. (3) SolverObserve is added to probe the contraint terms. (4) Two new interior point solvers are added: SLP (Sequential Linear Programming based on PIPG) and IPM (multiple-shooting algorithm based on nonlinear interior point method).

Minor updates to the backend

Minor updates and adding more unittests.

This release introduces the augmented Lagrangian solver in the DDP solver. The followings are the most important changes:

    + Introduction of Augmented Lagrangian terms and collections (for state and state-input cases)
    + Updating OCP to use augmented Lagrangian collections
    + Introduction of Augmented penalties for AL: two equalities and two inequalities
    + Introduction of Multiplier, MultiplierCollection, LagrangianMetrics, MetricsCollection, and ProblemMetrics
    + Updating approximateIntermediateLQ, approximatePreJumoLQ, and approximateFinalLQ to use MultiplierCollection
    + Introducing Dual solution (final, preJump, intermeiate)
    + Introduction of helper function for initialization and updating metrics, multipliers, and dual solution.
    + Introduction of SolverObserverModule to extract each term’s Multiplier and Metrics from the solver.
    + Introduction of RosSolverObserverModule to publish a term’s Multiplier and Metrics at a specific time on the horizon.
    + Using AL in CartpoleTest and HybridSlqTest

Changelog:

fix/extract_common_angle_wrapping (pull request #638): move angle wrapping to common place, reinplement, and test Approved-by: Alexander Reske
feature/primalsolution_warmstart (pull request #620): add solver run based on external primal solution Approved-by: Farbod Farshidian
fix/desiredFootholds (pull request #637): fix mode schedule issue Approved-by: Farbod Farshidian
feature/boxSoftConstraints (pull request #619): soft box constraints Approved-by: Mayank Mittal Approved-by: Farbod Farshidian
feature/sqp_value_function (pull request #634): Feature/sqp value function Approved-by: Farbod Farshidian
feature/load_more_pairs (pull request #630): extend load vector of pairs Approved-by: Farbod Farshidian
fix/rotationErrorJacobian (pull request #632): Fix/rotationErrorJacobian Approved-by: Farbod Farshidian
fix/rotations (pull request #635): Unify rotation transforms. Approved-by: Johannes Pankert Approved-by: Maria Vittoria Minniti
fix/propagate_pinocchio_setup (pull request #614): export pinocchio cmake configs to downstream catkin packages
feature/gh-action: Add an action to build and test OCS2 in Debug and Release

adds more mobile-manip examples

Removes roscpp dependency from python-interface
Improves the linesearch scheme of SPQ solver
Adds joint position limits in mobile-manipulator example, parsed directly from urdf

The latest master branch before merging GaussNewtonDDP branch