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Qingwen Zhang / OSQP_test

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BSD-3-Clause

OSQP test

主要是自己看osqp进行约束拟合所用的debug分支

更为详细的公式及代码对应的博文解释见

  1. 博客园:https://www.cnblogs.com/kin-zhang/p/15532655.html
  2. CSDN:https://blog.csdn.net/qq_39537898/article/details/121252690

相关参考也列在了博客里,此处重复引用一下,绝大部分code来源于:https://github.com/ApolloAuto/apollo/tree/r2.0.0/modules/planning/math/smoothing_spline

使用方式

git clone https://gitee.com/kin_zhang/osqp_test.git

然后使用vscode内置的cmake_tool即可,比如gif所示:

或者参考:how to use cmake tool to debug, follow the youtube link: https://youtu.be/Rfj40xW9q6w

如果只想看图,可以直接

mkdir build
cd build
cmake ..
make

然后运行

./spile2d_test

便能看到这样的图形:

几点说明:红色是直接五次曲线生成的 没有添加限制,蓝色为添加了限制的osqp生成的,从图二可以看出他们的Curvature 曲率还是差距很大的,红色的曲率更小 在实际运行过程中也更好

BSD 3-Clause License Copyright (c) 2022, 张聪明 All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

简介

QP-Spline-Path Optimizer,基于二次规划的曲线路径优化器 使用测试说明,更多见readme中博文对应公式解释 展开 收起
C++ 等 3 种语言
BSD-3-Clause
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