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Terminal constraints #53

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mayataka opened this issue Jun 1, 2021 · 1 comment
Open
9 tasks

Terminal constraints #53

mayataka opened this issue Jun 1, 2021 · 1 comment
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enhancement New feature or request

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@mayataka
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mayataka commented Jun 1, 2021 •
edited

Terminal constraints are often needed to ensure the stability of MPC.
Therefore, it is nice if we can design the terminal constraints independently from the constraints on the other time stages.
The following classes should be implemented:

  • TerminalConstraintComponentBase
  • TerminalJointPositionLowerLimit
  • TerminalJointPositionUpperLimit
  • TerminalBasePositionLowerLimit
  • TerminalBasePositionUpperLimit
  • TerminalJointVelocityLowerLimit
  • TerminalJointVelocityUpperLimit
  • TerminalBaseVelocityLowerLimit
  • TerminalBaseVelocityUpperLimit
@mayataka mayataka added the enhancement New feature or request label Jun 1, 2021
@mayataka
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Low priority

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@mayataka