Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Terminal constraints #53

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

Terminal constraints #53

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

Comments

@mayataka
Copy link
Owner

mayataka commented Jun 1, 2021 •
edited
Loading

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
Copy link
Owner Author

Low priority

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
enhancement New feature or request
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@mayataka