Update SCvxGEN comparison and README

purnanandelango · Apr 28, 2024 · 97edafb · 97edafb
1 parent fc67229
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diff --git a/docs/preamble.tex b/docs/preamble.tex
@@ -10,7 +10,7 @@
     urlcolor=green!20!gray!80 
 }
 \usepackage{mathpazo}
-\usepackage{microtype}
+\usepackage[nopatch]{microtype}
 \usepackage{amsmath,amssymb,bm}
 \usepackage{setspace}
 \usepackage{algorithm}

diff --git a/docs/readme.pdf b/docs/readme.pdf
diff --git a/docs/readme.tex b/docs/readme.tex
@@ -3,7 +3,7 @@
 \input preamble
 
 \title{{\Large Successive Convexification for Trajectory Optimization with \\Continuous-Time Constraint Satisfaction}\\[0.5cm]{\Large{\ctscvx}}}
-\author{{\normalsize Autonomous Controls Laboratory}\\{\normalsize University of Washington, Seattle}}
+\author{{\normalsize Purnanand Elango}\\{\small University of Washington, Seattle}}
 
 \date{}
 

diff --git a/obstacle-avoidance/dynamic-elliptic/README.md b/obstacle-avoidance/dynamic-elliptic/README.md
@@ -1,3 +1,3 @@
-# Dynamic Obstacles
+# Dynamic Obstacle Avoidance
 
 ![](ctcs/anim.gif)
diff --git a/obstacle-avoidance/dynamic-elliptic/SCvxGEN/README.md b/obstacle-avoidance/dynamic-elliptic/SCvxGEN/README.md
@@ -0,0 +1 @@
+SCvxGEN binaries were compiled for Apple M processor.
diff --git a/obstacle-avoidance/dynamic-elliptic/ctcs/main.m b/obstacle-avoidance/dynamic-elliptic/ctcs/main.m
@@ -53,7 +53,7 @@
                        't_grid', 'x_grid', 'u_grid');
 
 % Compare against SCvxGEN solution
-solution_file = "solution.csv";
+solution_file = "../SCvxGEN/data/solution.csv";
 if exist(solution_file)
     xx = readmatrix(solution_file,"Range",[1 1 prb.K prb.nx])';
     uu = diag([1,1,prb.K-1])*readmatrix("solution.csv","Range",[prb.K+1 1 2*prb.K prb.nu])';

diff --git a/obstacle-avoidance/dynamic-elliptic/ctcs/recent_solution.mat b/obstacle-avoidance/dynamic-elliptic/ctcs/recent_solution.mat
diff --git a/rocket-landing-6DoF/SCvxGEN/README.md b/rocket-landing-6DoF/SCvxGEN/README.md
@@ -0,0 +1 @@
+SCvxGEN binaries were compiled for Apple M processor.
diff --git a/rocket-landing-6DoF/ctcs/main.m b/rocket-landing-6DoF/ctcs/main.m
@@ -53,8 +53,7 @@
                        'xbar','ubar','tvecbar','taubar');
 
 % Compare against SCvxGEN solution
-% solution_file = "../../../scvxgen/examples/rocket_landing/code_rocket_landing_6_DoF_lunar/build/solution.csv";
-solution_file = "solution.csv";
+solution_file = "../SCvxGEN/data/solution.csv";
 if exist(solution_file)
     xx = readmatrix(solution_file,"Range",[1 1 prb.K prb.nx])';
     uu = diag([1,1,1,prb.K-1])*readmatrix("solution.csv","Range",[prb.K+1 1 2*prb.K prb.nu])';

diff --git a/rocket-landing-6DoF/ctcs/problem_data.m b/rocket-landing-6DoF/ctcs/problem_data.m
@@ -214,7 +214,7 @@
     prb.w_px = w_px;
     prb.cost_factor = cost_factor;
 
-    prb.eps_epp = 1e-7;
+    prb.eps_ep = 1e-7;
     prb.eps_px = 1e-4;
 
     % Takes in unscaled data

diff --git a/rocket-landing-6DoF/ctcs/problem_data_lunar.m b/rocket-landing-6DoF/ctcs/problem_data_lunar.m
@@ -211,7 +211,7 @@
     prb.cost_factor = cost_factor;
 
     prb.eps_ep = 1e-7;
-    prb.eps_px = 5e-4;
+    prb.eps_px = 1e-3;
 
     % Takes in unscaled data
     prb.time_of_maneuver =     @(x,u) disc.time_of_maneuver(prb.disc,prb.tau,u(4,:));    

diff --git a/rocket-landing-6DoF/ctcs/recent_solution.mat b/rocket-landing-6DoF/ctcs/recent_solution.mat
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		SCvxGEN binaries were compiled for Apple M processor.