From 6b3fd0e695de85b741bab224979bdd2262234672 Mon Sep 17 00:00:00 2001 From: Matthew Powelson Date: Fri, 8 May 2020 10:17:08 -0500 Subject: [PATCH] Trajopt_ifopt: Simple Readme --- trajopt_ifopt/README.md | 32 ++++++++++++++++++++++++++++++++ 1 file changed, 32 insertions(+) create mode 100644 trajopt_ifopt/README.md diff --git a/trajopt_ifopt/README.md b/trajopt_ifopt/README.md new file mode 100644 index 000000000..c7c2ae795 --- /dev/null +++ b/trajopt_ifopt/README.md @@ -0,0 +1,32 @@ +# trajopt_ros_ifopt + +This package provides robotics costs and constraints for use with the ifopt optimization framework. Each term is written as a constraint that can then be converted into a cost. + +## Currently Supported Constraints +* Joint Position +* Joint Velocity +* Cartesian Position(FK) +* Inverse Kinematics +* Collision (single timestep evaluator only) + +## Currently Supported Costs +These costs convert any constraint into a cost + +* Squared Cost + + +## Trajopt_optimizers +Additionally, the SQP solver has been rewritten. Currently it provides the SQP routine with interfaces to these QP solvers +* [OSQPEigen](https://github.com/robotology/osqp-eigen/tree/master/include/OsqpEigen) + +Therefore the solvers that will work in this new framework are +* [IPOPT](https://github.com/coin-or/Ipopt) +* [SNOPT](http://www.sbsi-sol-optimize.com/asp/sol_product_snopt.htm) +* Trajopt_sqp + +## TODO + +- [ ] Collision - Add other collision evaluators +- [ ] Callbacks - Callbacks for plotting need to be developed (here and in Tesseract) +- [ ] Print debug info - trajopt_sco prints a bunch of debugging information that developers have become accustomed to. We need to replicate that here. +- [ ] Gurobi interface - We should try SNOPT first, but an interface to Gurobi might be nice.