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- Log -----------------------------------------------------------------
commit b95cbc4b1d83a4f49e797c5a74c8cd465f0776e9
Author: Thomas Moulard <[email protected]>
Date: Thu Mar 4 13:58:42 2010 +0100
Fix start/end freezing constriant for CubicBSpline.
* include/roboptim/trajectory/cubic-b-spline.hh,
* include/roboptim/trajectory/cubic-b-spline.hxx: Fix constraint
and add optional offset to handle trajectories with extra parameters.
* tests/spline-optimization.cc: Use new linear constraint.
* tests/spline-optimization.stdout: Regenerate.
* tests/spline-time-optimization.cc: Use new linear constraint.
* tests/spline-time-optimization.stdout: Regenerate.
Signed-off-by: Thomas Moulard <[email protected]>
diff --git a/ChangeLog b/ChangeLog
index 2296944..ad163c0 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,14 @@
+2010-03-04 Thomas Moulard <[email protected]>
+
+ Fix start/end freezing constriant for CubicBSpline.
+ * include/roboptim/trajectory/cubic-b-spline.hh,
+ * include/roboptim/trajectory/cubic-b-spline.hxx: Fix constraint
+ and add optional offset to handle trajectories with extra parameters.
+ * tests/spline-optimization.cc: Use new linear constraint.
+ * tests/spline-optimization.stdout: Regenerate.
+ * tests/spline-time-optimization.cc: Use new linear constraint.
+ * tests/spline-time-optimization.stdout: Regenerate.
+
2010-03-03 Thomas Moulard <[email protected]>
Fix SPEC file.
diff --git a/include/roboptim/trajectory/cubic-b-spline.hh
b/include/roboptim/trajectory/cubic-b-spline.hh
index e02164c..d76320e 100644
--- a/include/roboptim/trajectory/cubic-b-spline.hh
+++ b/include/roboptim/trajectory/cubic-b-spline.hh
@@ -97,9 +97,9 @@ namespace roboptim
const throw ();
template <typename P>
- void freezeCurveStart (P& problem);
+ void freezeCurveStart (P& problem, size_type offset = 0) const throw ();
template <typename P>
- void freezeCurveEnd (P& problem);
+ void freezeCurveEnd (P& problem, size_type offset = 0) const throw ();
protected:
void impl_compute (result_t&, double) const throw ();
@@ -121,4 +121,5 @@ namespace roboptim
} // end of namespace roboptim.
+# include <roboptim/trajectory/cubic-b-spline.hxx>
#endif //! ROBOPTIM_TRAJECTORY_TRAJECTORY_HH
diff --git a/include/roboptim/trajectory/cubic-b-spline.hxx
b/include/roboptim/trajectory/cubic-b-spline.hxx
index 5aadeed..0f0f974 100644
--- a/include/roboptim/trajectory/cubic-b-spline.hxx
+++ b/include/roboptim/trajectory/cubic-b-spline.hxx
@@ -17,81 +17,61 @@
#ifndef ROBOPTIM_TRAJECTORY_CUBIC_B_SPLINE_HXX
# define ROBOPTIM_TRAJECTORY_CUBIC_B_SPLINE_HXX
+# include <roboptim/core/numeric-linear-function.hh>
namespace roboptim
{
template <typename P>
void
- CubicBSpline::frezzeCurveStart (P& problem)
+ CubicBSpline::freezeCurveStart (P& problem, size_type offset) const throw ()
{
- using boost::numeric::ublas::zero_matrix;
- using boost::numeric::ublas::zero_vector;
+ using boost::shared_ptr;
+ const size_type paramSize = parameters ().size ();
+ const Function::interval_t interval = Function::makeInterval (0, 0);
+ assert (paramSize >= offset + 3 * outputSize ());
- Function::matrix_t A[3];
- Function::vector_t b[3];
+ for (size_type i = 0; i < outputSize (); ++i)
+ {
+ Function::matrix_t A (1, offset + paramSize);
+ Function::vector_t b (1);
+ A.clear ();
+ b.clear ();
- A[0] = zero_matrix<double>(1, paramSize);
- A[1] = zero_matrix<double>(1, paramSize);
- A[2] = zero_matrix<double>(1, paramSize);
-
- b[0] = zero_vector<double>(1);
- b[1] = zero_vector<double>(1);
- b[2] = zero_vector<double>(1);
- A[0](0,1) = A[1](0,2) = A[2](0,3)=1./6.;
- A[0](0,4) = A[1](0,5) = A[2](0,6)=2./3.;
- A[0](0,7) = A[1](0,8) = A[2](0,9)=1./6.;
- b[0](0) = -freeTimeTraj_.parameters ()[1+0];
- b[1](0) = -freeTimeTraj_.parameters ()[1+1];
- b[2](0) = -freeTimeTraj_.parameters ()[1+2];
- NumericLinearFunction* boundaryCond;
- boundaryCond = new NumericLinearFunction(A[0], b[0]);
- boost::shared_ptr<LinearFunction> boundaryCond0ShPtr(boundaryCond);
- boundaryCond = new NumericLinearFunction(A[1], b[1]);
- boost::shared_ptr<LinearFunction> boundaryCond1ShPtr(boundaryCond);
- boundaryCond = new NumericLinearFunction(A[2], b[2]);
- boost::shared_ptr<LinearFunction> boundaryCond2ShPtr(boundaryCond);
-
- problem.addConstraint(boundaryCond0ShPtr, interval);
- problem.addConstraint(boundaryCond1ShPtr, interval);
- problem.addConstraint(boundaryCond2ShPtr, interval);
+ A (0, offset + i + 0. * outputSize ()) = 1. / 6.;
+ A (0, offset + i + 1. * outputSize ()) = 2. / 3.;
+ A (0, offset + i + 2. * outputSize ()) = 1. / 6.;
+ b (0) = -parameters ()[offset + i];
+ NumericLinearFunction* boundaryCond = new NumericLinearFunction (A, b);
+ shared_ptr<LinearFunction> boundaryCondShPtr (boundaryCond);
+ problem.addConstraint (boundaryCondShPtr, interval);
+ }
}
template <typename P>
void
- CubicBSpline::frezzeCurveEnd (P& problem)
+ CubicBSpline::freezeCurveEnd (P& problem, size_type offset) const throw ()
{
- using boost::numeric::ublas::zero_matrix;
- using boost::numeric::ublas::zero_vector;
-
- Function::matrix_t A[3];
- Function::vector_t b[3];
+ using boost::shared_ptr;
+ const size_type paramSize = parameters ().size ();
+ const Function::interval_t interval = Function::makeInterval (0, 0);
+ assert (paramSize >= offset + 3 * outputSize ());
- A[0] = zero_matrix<double>(1, paramSize);
- A[1] = zero_matrix<double>(1, paramSize);
- A[2] = zero_matrix<double>(1, paramSize);
- b[0] = zero_vector<double>(1);
- b[1] = zero_vector<double>(1);
- b[2] = zero_vector<double>(1);
+ for (size_type i = 0; i < outputSize (); ++i)
+ {
+ Function::matrix_t A (1, offset + paramSize);
+ Function::vector_t b (1);
+ A.clear ();
+ b.clear ();
- A[0](0,paramSize-9) = A[1](0,paramSize-8) = A[2](0,paramSize-7)=1./6.;
- A[0](0,paramSize-6) = A[1](0,paramSize-5) = A[2](0,paramSize-4)=2./3.;
- A[0](0,paramSize-3) = A[1](0,paramSize-2) = A[2](0,paramSize-1)=1./6.;
- b[0](0) = -freeTimeTraj_.parameters ()[paramSize-3];
- b[1](0) = -freeTimeTraj_.parameters ()[paramSize-2];
- b[2](0) = -freeTimeTraj_.parameters ()[paramSize-1];
- boundaryCond = new NumericLinearFunction(A[0], b[0]);
- boost::shared_ptr<LinearFunction> boundaryCond3ShPtr(boundaryCond);
- boundaryCond = new NumericLinearFunction(A[1], b[1]);
- boost::shared_ptr<LinearFunction> boundaryCond4ShPtr(boundaryCond);
- boundaryCond = new NumericLinearFunction(A[2], b[2]);
- boost::shared_ptr<LinearFunction> boundaryCond5ShPtr(boundaryCond);
-
- Function::interval_t interval = Function::makeInterval(0., 0.);
- problem.addConstraint(boundaryCond3ShPtr, interval);
- problem.addConstraint(boundaryCond4ShPtr, interval);
- problem.addConstraint(boundaryCond5ShPtr, interval);
+ A (0, paramSize - 1 - i - 0. * outputSize ()) = 1. / 6.;
+ A (0, paramSize - 1 - i - 1. * outputSize ()) = 2. / 3.;
+ A (0, paramSize - 1 - i - 2. * outputSize ()) = 1. / 6.;
+ b (0) = -parameters ()[paramSize - 1 - i];
+ NumericLinearFunction* boundaryCond = new NumericLinearFunction (A, b);
+ shared_ptr<LinearFunction> boundaryCondShPtr (boundaryCond);
+ problem.addConstraint (boundaryCondShPtr, interval);
+ }
}
-
} // end of namespace roboptim.
#endif //! ROBOPTIM_TRAJECTORY_TRAJECTORY_HXX
diff --git a/tests/spline-optimization.cc b/tests/spline-optimization.cc
index 89727db..dbad8a2 100644
--- a/tests/spline-optimization.cc
+++ b/tests/spline-optimization.cc
@@ -28,7 +28,6 @@
#include <roboptim/core/visualization/gnuplot-commands.hh>
#include <roboptim/core/visualization/gnuplot-function.hh>
-#include <roboptim/trajectory/freeze.hh>
#include <roboptim/trajectory/fwd.hh>
#include <roboptim/trajectory/spline-length.hh>
#include <roboptim/trajectory/cubic-b-spline.hh>
@@ -48,6 +47,32 @@ using namespace roboptim::visualization::gnuplot;
typedef CFSQPSolver::problem_t::constraints_t constraint_t;
typedef CFSQPSolver solver_t;
+void showSpline (const CubicBSpline& spline);
+
+void showSpline (const CubicBSpline& spline)
+{
+ std::cout
+ << "# Values:" << std::endl
+ << "# " << normalize (spline (0.)) << std::endl
+ << "# " << normalize (spline (2.5)) << std::endl
+ << "# " << normalize (spline (4.)) << std::endl
+
+ << "# 1st derivative:" << std::endl
+ << "# " << normalize (spline.derivative (0., 1)) << std::endl
+ << "# " << normalize (spline.derivative (2.5, 1)) << std::endl
+ << "# " << normalize (spline.derivative (4., 1)) << std::endl
+
+ << "# 2nd derivative:" << std::endl
+ << "# " << normalize (spline.derivative (0., 2)) << std::endl
+ << "# " << normalize (spline.derivative (2.5, 2)) << std::endl
+ << "# " << normalize (spline.derivative (4., 2)) << std::endl
+
+ << "# variationConfigWrtParam:" << std::endl
+ << "# " << normalize (spline.variationConfigWrtParam (0.)) << std::endl
+ << "# " << normalize (spline.variationConfigWrtParam (2.5)) << std::endl
+ << "# " << normalize (spline.variationConfigWrtParam (4.)) << std::endl;
+}
+
int run_test ()
{
using namespace boost::assign;
@@ -71,26 +96,7 @@ int run_test ()
CubicBSpline spline (timeRange, 2, params, "before");
discreteInterval_t interval (0., 4., 0.01);
- std::cout
- << "# Values:" << std::endl
- << "# " << normalize (spline (0.)) << std::endl
- << "# " << normalize (spline (2.5)) << std::endl
- << "# " << normalize (spline (4.)) << std::endl
-
- << "# 1st derivative:" << std::endl
- << "# " << normalize (spline.derivative (0., 1)) << std::endl
- << "# " << normalize (spline.derivative (2.5, 1)) << std::endl
- << "# " << normalize (spline.derivative (4., 1)) << std::endl
-
- << "# 2nd derivative:" << std::endl
- << "# " << normalize (spline.derivative (0., 2)) << std::endl
- << "# " << normalize (spline.derivative (2.5, 2)) << std::endl
- << "# " << normalize (spline.derivative (4., 2)) << std::endl
-
- << "# variationConfigWrtParam:" << std::endl
- << "# " << normalize (spline.variationConfigWrtParam (0.)) << std::endl
- << "# " << normalize (spline.variationConfigWrtParam (2.5)) << std::endl
- << "# " << normalize (spline.variationConfigWrtParam (4.)) << std::endl;
+ showSpline (spline);
Gnuplot gnuplot = Gnuplot::make_interactive_gnuplot ();
gnuplot
@@ -120,20 +126,8 @@ int run_test ()
solver_t::problem_t problem (cost);
problem.startingPoint () = params;
- std::vector<Function::size_type> indices;
- indices.push_back (0);
- indices.push_back (1);
- indices.push_back (2);
- indices.push_back (3);
- indices.push_back (4);
- indices.push_back (5);
- indices.push_back (params.size () - 6);
- indices.push_back (params.size () - 5);
- indices.push_back (params.size () - 4);
- indices.push_back (params.size () - 3);
- indices.push_back (params.size () - 2);
- indices.push_back (params.size () - 1);
- makeFreeze (problem) (indices, params);
+ spline.freezeCurveStart (problem);
+ spline.freezeCurveEnd (problem);
SolverFactory<solver_t> factory ("cfsqp", problem);
solver_t& solver = factory ();
@@ -151,6 +145,7 @@ int run_test ()
{
Result& result = boost::get<Result> (res);
CubicBSpline optimizedSpline (timeRange, 2, result.x, "after");
+ showSpline (optimizedSpline);
params = result.x;
gnuplot << plot_xy (optimizedSpline);
break;
@@ -165,6 +160,7 @@ int run_test ()
{
ResultWithWarnings& result = boost::get<ResultWithWarnings> (res);
CubicBSpline optimizedSpline (timeRange, 2, result.x, "after");
+ showSpline (optimizedSpline);
params = result.x;
std::cerr << result << std::endl;
gnuplot << plot_xy (optimizedSpline);
diff --git a/tests/spline-optimization.stdout b/tests/spline-optimization.stdout
index 4cb3deb..f3a4741 100644
--- a/tests/spline-optimization.stdout
+++ b/tests/spline-optimization.stdout
@@ -14,8 +14,24 @@
#
[2,16]((0.17,0.00,0.67,0.00,0.17,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00),(0.00,0.17,0.00,0.67,0.00,0.17,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00))
#
[2,16]((0.00,0.00,0.00,0.00,0.00,0.00,0.11,0.00,0.65,0.00,0.24,0.00,0.00,0.00,0.00,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.11,0.00,0.65,0.00,0.24,0.00,0.00,0.00,0.00))
#
[2,16]((0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.67,0.00,0.17,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.67,0.00,0.17))
+# Values:
+# [2](0.00,0.00)
+# [2](62.63,62.63)
+# [2](100.00,100.00)
+# 1st derivative:
+# [2](21.48,21.48)
+# [2](24.97,24.97)
+# [2](21.48,21.48)
+# 2nd derivative:
+# [2](13.87,13.87)
+# [2](-1.06,-1.06)
+# [2](-13.87,-13.87)
+# variationConfigWrtParam:
+#
[2,16]((0.17,0.00,0.67,0.00,0.17,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00),(0.00,0.17,0.00,0.67,0.00,0.17,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00))
+#
[2,16]((0.00,0.00,0.00,0.00,0.00,0.00,0.11,0.00,0.65,0.00,0.24,0.00,0.00,0.00,0.00,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.11,0.00,0.65,0.00,0.24,0.00,0.00,0.00,0.00))
+#
[2,16]((0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.67,0.00,0.17,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.67,0.00,0.17))
#!/usr/bin/gnuplot
-# Generated by RobOptim core library 0.5
+# Generated by RobOptim core library 0.5.12.dc6a
set terminal wxt persist
set multiplot layout 1,2
set grid
@@ -121,104 +137,104 @@ plot '-' title 'before' with line
e
plot '-' title 'after' with line
-0.000877 0.000877
-0.007018 0.007018
-0.023684 0.023684
-0.056140 0.056140
-0.109649 0.109649
-0.189473 0.189473
-0.300877 0.300877
-0.449122 0.449122
-0.639473 0.639473
-0.877191 0.877191
-1.167542 1.167542
-1.515787 1.515787
-1.927190 1.927190
-2.407013 2.407013
-2.960521 2.960521
-3.592976 3.592976
-4.309642 4.309642
-5.115781 5.115781
-6.016656 6.016656
-7.017532 7.017532
-8.121367 8.121367
-9.321914 9.321914
-10.610618 10.610618
-11.978927 11.978927
-13.418289 13.418289
-14.920150 14.920150
-16.475959 16.475959
-18.077163 18.077163
-19.715210 19.715210
-21.381545 21.381545
-23.067618 23.067618
-24.764876 24.764876
-26.464765 26.464765
-28.158733 28.158733
-29.838228 29.838228
-31.494697 31.494697
-33.119587 33.119587
-34.704347 34.704347
-36.240422 36.240422
-37.719262 37.719262
-39.134834 39.134834
-40.491196 40.491196
-41.794927 41.794927
-43.052606 43.052606
-44.270812 44.270812
-45.456123 45.456123
-46.615118 46.615118
-47.754377 47.754377
-48.880478 48.880478
+0.870031 0.870031
+1.760881 1.760881
+2.671182 2.671182
+3.599565 3.599565
+4.544661 4.544661
+5.505102 5.505102
+6.479520 6.479520
+7.466546 7.466546
+8.464811 8.464811
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+11.513357 11.513357
+12.542894 12.542894
+13.576828 13.576828
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+41.881706 41.881706
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+44.917341 44.917341
+45.932262 45.932262
+46.948257 46.948257
+47.965057 47.965057
+48.982394 48.982394
50.000000 50.000000
-51.119522 51.119522
-52.245623 52.245623
-53.384882 53.384882
-54.543877 54.543877
-55.729188 55.729188
-56.947394 56.947394
-58.205073 58.205073
-59.508804 59.508804
-60.865166 60.865166
-62.280738 62.280738
-63.759578 63.759578
-65.295653 65.295653
-66.880413 66.880413
-68.505303 68.505303
-70.161772 70.161772
-71.841267 71.841267
-73.535235 73.535235
-75.235124 75.235124
-76.932382 76.932382
-78.618455 78.618455
-80.284790 80.284790
-81.922837 81.922837
-83.524041 83.524041
-85.079850 85.079850
-86.581711 86.581711
-88.021073 88.021073
-89.389382 89.389382
-90.678086 90.678086
-91.878633 91.878633
-92.982468 92.982468
-93.983344 93.983344
-94.884219 94.884219
-95.690358 95.690358
-96.407024 96.407024
-97.039479 97.039479
-97.592987 97.592987
-98.072810 98.072810
-98.484213 98.484213
-98.832458 98.832458
-99.122809 99.122809
-99.360527 99.360527
-99.550878 99.550878
-99.699123 99.699123
-99.810527 99.810527
-99.890351 99.890351
-99.943860 99.943860
-99.976316 99.976316
-99.992982 99.992982
+51.017606 51.017606
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+95.455339 95.455339
+96.400435 96.400435
+97.328818 97.328818
+98.239119 98.239119
e
unset multiplot
diff --git a/tests/spline-time-optimization.cc
b/tests/spline-time-optimization.cc
index a5d6b9e..5b0f351 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -31,7 +31,6 @@
#include <roboptim/core/visualization/gnuplot-function.hh>
#include <roboptim/trajectory/free-time-trajectory.hh>
-#include <roboptim/trajectory/freeze.hh>
#include <roboptim/trajectory/fwd.hh>
#include <roboptim/trajectory/limit-speed.hh>
#include <roboptim/trajectory/spline-length.hh>
@@ -97,14 +96,8 @@ int run_test ()
const freeTime_t::vector_t freeTimeParams = freeTimeTraj.parameters ();
- std::vector<Function::size_type> indices;
- indices.push_back (1);
- indices.push_back (2);
- indices.push_back (3);
- indices.push_back (freeTimeParams.size () - 3);
- indices.push_back (freeTimeParams.size () - 2);
- indices.push_back (freeTimeParams.size () - 1);
- makeFreeze (problem) (indices, freeTimeParams);
+ spline.freezeCurveStart (problem, 1);
+ spline.freezeCurveEnd (problem, 1);
Function::interval_t vRange = Function::makeUpperInterval (.5 * vMax * vMax);
LimitSpeed<FreeTimeTrajectory<CubicBSpline> >::addToProblem
diff --git a/tests/spline-time-optimization.stdout
b/tests/spline-time-optimization.stdout
index 0fa2cd1..b921506 100644
--- a/tests/spline-time-optimization.stdout
+++ b/tests/spline-time-optimization.stdout
@@ -3,904 +3,920 @@ Solver:
Numeric linear function
A =
[1,16]((-1.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00))
B = [1](0.00)
- Argument's bounds: (0.00, inf), (0.00, 0.00), (0.00, 0.00), (0.00, 0.00),
(-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf),
(-inf, inf), (-inf, inf), (-inf, inf), (200.00, 200.00), (200.00, 200.00),
(200.00, 200.00)
+ Argument's bounds: (0.00, inf), (-inf, inf), (-inf, inf), (-inf, inf),
(-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf),
(-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf)
Argument's scales: 1.00, 1.00, 1.00, 1.00, 1.00, 1.00, 1.00, 1.00, 1.00,
1.00, 1.00, 1.00, 1.00, 1.00, 1.00, 1.00
- Number of constraints: 150
+ Number of constraints: 152
Constraint 0
+ Numeric linear function
+ A =
[1,16]((0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00))
+ B = [1](-0.00)
+ Bounds: (0.00, 0.00)
+ Scales: 1.00
+ Initial value: [1](0.00)
+
+ Constraint 1
+ Numeric linear function
+ A =
[1,16]((0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00))
+ B = [1](-200.00)
+ Bounds: (0.00, 0.00)
+ Scales: 1.00
+ Initial value: [1](-3.33) (constraint not satisfied)
+
+ Constraint 2
speed limit (0.00662252) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](0.02)
- Constraint 1
+ Constraint 3
speed limit (0.013245) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](0.29)
- Constraint 2
+ Constraint 4
speed limit (0.0198675) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1.45)
- Constraint 3
+ Constraint 5
speed limit (0.0264901) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](4.59)
- Constraint 4
+ Constraint 6
speed limit (0.0331126) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](11.22)
- Constraint 5
+ Constraint 7
speed limit (0.0397351) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](23.26)
- Constraint 6
+ Constraint 8
speed limit (0.0463576) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](43.09)
- Constraint 7
+ Constraint 9
speed limit (0.0529801) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](73.52)
- Constraint 8
+ Constraint 10
speed limit (0.0596026) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](117.76)
- Constraint 9
+ Constraint 11
speed limit (0.0662252) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](179.49)
- Constraint 10
+ Constraint 12
speed limit (0.0728477) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](262.78)
- Constraint 11
+ Constraint 13
speed limit (0.0794702) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](372.18)
- Constraint 12
+ Constraint 14
speed limit (0.0860927) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](510.52)
- Constraint 13
+ Constraint 15
speed limit (0.0927152) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](661.56)
- Constraint 14
+ Constraint 16
speed limit (0.0993377) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](816.75)
- Constraint 15
+ Constraint 17
speed limit (0.10596) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](971.51)
- Constraint 16
+ Constraint 18
speed limit (0.112583) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1121.66)
- Constraint 17
+ Constraint 19
speed limit (0.119205) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1263.48)
- Constraint 18
+ Constraint 20
speed limit (0.125828) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1393.66)
- Constraint 19
+ Constraint 21
speed limit (0.13245) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1509.33)
- Constraint 20
+ Constraint 22
speed limit (0.139073) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1608.05)
- Constraint 21
+ Constraint 23
speed limit (0.145695) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1687.81)
- Constraint 22
+ Constraint 24
speed limit (0.152318) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1747.03)
- Constraint 23
+ Constraint 25
speed limit (0.15894) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1784.56)
- Constraint 24
+ Constraint 26
speed limit (0.165563) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1799.68)
- Constraint 25
+ Constraint 27
speed limit (0.172185) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 26
+ Constraint 28
speed limit (0.178808) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 27
+ Constraint 29
speed limit (0.18543) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 28
+ Constraint 30
speed limit (0.192053) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 29
+ Constraint 31
speed limit (0.198675) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 30
+ Constraint 32
speed limit (0.205298) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 31
+ Constraint 33
speed limit (0.211921) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 32
+ Constraint 34
speed limit (0.218543) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 33
+ Constraint 35
speed limit (0.225166) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 34
+ Constraint 36
speed limit (0.231788) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 35
+ Constraint 37
speed limit (0.238411) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 36
+ Constraint 38
speed limit (0.245033) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 37
+ Constraint 39
speed limit (0.251656) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 38
+ Constraint 40
speed limit (0.258278) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 39
+ Constraint 41
speed limit (0.264901) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 40
+ Constraint 42
speed limit (0.271523) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 41
+ Constraint 43
speed limit (0.278146) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 42
+ Constraint 44
speed limit (0.284768) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 43
+ Constraint 45
speed limit (0.291391) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 44
+ Constraint 46
speed limit (0.298013) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 45
+ Constraint 47
speed limit (0.304636) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 46
+ Constraint 48
speed limit (0.311258) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 47
+ Constraint 49
speed limit (0.317881) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 48
+ Constraint 50
speed limit (0.324503) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 49
+ Constraint 51
speed limit (0.331126) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 50
+ Constraint 52
speed limit (0.337748) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 51
+ Constraint 53
speed limit (0.344371) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 52
+ Constraint 54
speed limit (0.350993) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 53
+ Constraint 55
speed limit (0.357616) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 54
+ Constraint 56
speed limit (0.364238) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 55
+ Constraint 57
speed limit (0.370861) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 56
+ Constraint 58
speed limit (0.377483) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 57
+ Constraint 59
speed limit (0.384106) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 58
+ Constraint 60
speed limit (0.390728) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 59
+ Constraint 61
speed limit (0.397351) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 60
+ Constraint 62
speed limit (0.403974) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 61
+ Constraint 63
speed limit (0.410596) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 62
+ Constraint 64
speed limit (0.417219) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 63
+ Constraint 65
speed limit (0.423841) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 64
+ Constraint 66
speed limit (0.430464) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 65
+ Constraint 67
speed limit (0.437086) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 66
+ Constraint 68
speed limit (0.443709) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 67
+ Constraint 69
speed limit (0.450331) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 68
+ Constraint 70
speed limit (0.456954) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 69
+ Constraint 71
speed limit (0.463576) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 70
+ Constraint 72
speed limit (0.470199) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 71
+ Constraint 73
speed limit (0.476821) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 72
+ Constraint 74
speed limit (0.483444) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 73
+ Constraint 75
speed limit (0.490066) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 74
+ Constraint 76
speed limit (0.496689) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 75
+ Constraint 77
speed limit (0.503311) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 76
+ Constraint 78
speed limit (0.509934) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 77
+ Constraint 79
speed limit (0.516556) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 78
+ Constraint 80
speed limit (0.523179) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 79
+ Constraint 81
speed limit (0.529801) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 80
+ Constraint 82
speed limit (0.536424) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 81
+ Constraint 83
speed limit (0.543046) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 82
+ Constraint 84
speed limit (0.549669) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 83
+ Constraint 85
speed limit (0.556291) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 84
+ Constraint 86
speed limit (0.562914) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 85
+ Constraint 87
speed limit (0.569536) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 86
+ Constraint 88
speed limit (0.576159) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 87
+ Constraint 89
speed limit (0.582781) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 88
+ Constraint 90
speed limit (0.589404) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 89
+ Constraint 91
speed limit (0.596026) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 90
+ Constraint 92
speed limit (0.602649) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 91
+ Constraint 93
speed limit (0.609272) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 92
+ Constraint 94
speed limit (0.615894) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 93
+ Constraint 95
speed limit (0.622517) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 94
+ Constraint 96
speed limit (0.629139) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 95
+ Constraint 97
speed limit (0.635762) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 96
+ Constraint 98
speed limit (0.642384) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 97
+ Constraint 99
speed limit (0.649007) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 98
+ Constraint 100
speed limit (0.655629) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 99
+ Constraint 101
speed limit (0.662252) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 100
+ Constraint 102
speed limit (0.668874) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 101
+ Constraint 103
speed limit (0.675497) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 102
+ Constraint 104
speed limit (0.682119) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 103
+ Constraint 105
speed limit (0.688742) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 104
+ Constraint 106
speed limit (0.695364) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 105
+ Constraint 107
speed limit (0.701987) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 106
+ Constraint 108
speed limit (0.708609) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 107
+ Constraint 109
speed limit (0.715232) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 108
+ Constraint 110
speed limit (0.721854) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 109
+ Constraint 111
speed limit (0.728477) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 110
+ Constraint 112
speed limit (0.735099) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 111
+ Constraint 113
speed limit (0.741722) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 112
+ Constraint 114
speed limit (0.748344) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 113
+ Constraint 115
speed limit (0.754967) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 114
+ Constraint 116
speed limit (0.761589) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 115
+ Constraint 117
speed limit (0.768212) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 116
+ Constraint 118
speed limit (0.774834) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 117
+ Constraint 119
speed limit (0.781457) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 118
+ Constraint 120
speed limit (0.788079) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 119
+ Constraint 121
speed limit (0.794702) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 120
+ Constraint 122
speed limit (0.801325) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 121
+ Constraint 123
speed limit (0.807947) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 122
+ Constraint 124
speed limit (0.81457) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 123
+ Constraint 125
speed limit (0.821192) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 124
+ Constraint 126
speed limit (0.827815) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1800.00)
- Constraint 125
+ Constraint 127
speed limit (0.834437) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1799.68)
- Constraint 126
+ Constraint 128
speed limit (0.84106) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1784.56)
- Constraint 127
+ Constraint 129
speed limit (0.847682) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1747.03)
- Constraint 128
+ Constraint 130
speed limit (0.854305) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1687.81)
- Constraint 129
+ Constraint 131
speed limit (0.860927) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1608.05)
- Constraint 130
+ Constraint 132
speed limit (0.86755) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1509.33)
- Constraint 131
+ Constraint 133
speed limit (0.874172) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1393.66)
- Constraint 132
+ Constraint 134
speed limit (0.880795) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1263.48)
- Constraint 133
+ Constraint 135
speed limit (0.887417) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1121.66)
- Constraint 134
+ Constraint 136
speed limit (0.89404) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](971.51)
- Constraint 135
+ Constraint 137
speed limit (0.900662) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](816.75)
- Constraint 136
+ Constraint 138
speed limit (0.907285) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](661.56)
- Constraint 137
+ Constraint 139
speed limit (0.913907) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](510.52)
- Constraint 138
+ Constraint 140
speed limit (0.92053) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](372.18)
- Constraint 139
+ Constraint 141
speed limit (0.927152) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](262.78)
- Constraint 140
+ Constraint 142
speed limit (0.933775) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](179.49)
- Constraint 141
+ Constraint 143
speed limit (0.940397) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](117.76)
- Constraint 142
+ Constraint 144
speed limit (0.94702) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](73.52)
- Constraint 143
+ Constraint 145
speed limit (0.953642) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](43.09)
- Constraint 144
+ Constraint 146
speed limit (0.960265) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](23.26)
- Constraint 145
+ Constraint 147
speed limit (0.966887) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](11.22)
- Constraint 146
+ Constraint 148
speed limit (0.97351) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](4.59)
- Constraint 147
+ Constraint 149
speed limit (0.980132) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](1.45)
- Constraint 148
+ Constraint 150
speed limit (0.986755) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
Initial value: [1](0.29)
- Constraint 149
+ Constraint 151
speed limit (0.993377) (derivable function)
Bounds: (-inf, 3612.50)
Scales: 1.00
@@ -921,6 +937,6 @@ Solver:
CFSQP specific variables:
Nineq: 150
Nineqn: 150
- Neq: 0
+ Neq: 2
Neqn: 0
- CFSQP constraints: (0, 0), (1, 0), (2, 0), (3, 0), (4, 0), (5, 0), (6, 0),
(7, 0), (8, 0), (9, 0), (10, 0), (11, 0), (12, 0), (13, 0), (14, 0), (15, 0),
(16, 0), (17, 0), (18, 0), (19, 0), (20, 0), (21, 0), (22, 0), (23, 0), (24,
0), (25, 0), (26, 0), (27, 0), (28, 0), (29, 0), (30, 0), (31, 0), (32, 0),
(33, 0), (34, 0), (35, 0), (36, 0), (37, 0), (38, 0), (39, 0), (40, 0), (41,
0), (42, 0), (43, 0), (44, 0), (45, 0), (46, 0), (47, 0), (48, 0), (49, 0),
(50, 0), (51, 0), (52, 0), (53, 0), (54, 0), (55, 0), (56, 0), (57, 0), (58,
0), (59, 0), (60, 0), (61, 0), (62, 0), (63, 0), (64, 0), (65, 0), (66, 0),
(67, 0), (68, 0), (69, 0), (70, 0), (71, 0), (72, 0), (73, 0), (74, 0), (75,
0), (76, 0), (77, 0), (78, 0), (79, 0), (80, 0), (81, 0), (82, 0), (83, 0),
(84, 0), (85, 0), (86, 0), (87, 0), (88, 0), (89, 0), (90, 0), (91, 0), (92,
0), (93, 0), (94, 0), (95, 0), (96, 0), (97, 0), (98, 0), (99, 0), (100, 0),
(101, 0), (102, 0), (103, 0), (104, 0), (105, 0), (106, 0), (107, 0), (108, 0),
(109, 0), (110, 0), (111, 0), (112, 0), (113, 0), (114, 0), (115, 0), (116, 0),
(117, 0), (118, 0), (119, 0), (120, 0), (121, 0), (122, 0), (123, 0), (124, 0),
(125, 0), (126, 0), (127, 0), (128, 0), (129, 0), (130, 0), (131, 0), (132, 0),
(133, 0), (134, 0), (135, 0), (136, 0), (137, 0), (138, 0), (139, 0), (140, 0),
(141, 0), (142, 0), (143, 0), (144, 0), (145, 0), (146, 0), (147, 0), (148, 0),
(149, 0)
+ CFSQP constraints: (2, 0), (3, 0), (4, 0), (5, 0), (6, 0), (7, 0), (8, 0),
(9, 0), (10, 0), (11, 0), (12, 0), (13, 0), (14, 0), (15, 0), (16, 0), (17, 0),
(18, 0), (19, 0), (20, 0), (21, 0), (22, 0), (23, 0), (24, 0), (25, 0), (26,
0), (27, 0), (28, 0), (29, 0), (30, 0), (31, 0), (32, 0), (33, 0), (34, 0),
(35, 0), (36, 0), (37, 0), (38, 0), (39, 0), (40, 0), (41, 0), (42, 0), (43,
0), (44, 0), (45, 0), (46, 0), (47, 0), (48, 0), (49, 0), (50, 0), (51, 0),
(52, 0), (53, 0), (54, 0), (55, 0), (56, 0), (57, 0), (58, 0), (59, 0), (60,
0), (61, 0), (62, 0), (63, 0), (64, 0), (65, 0), (66, 0), (67, 0), (68, 0),
(69, 0), (70, 0), (71, 0), (72, 0), (73, 0), (74, 0), (75, 0), (76, 0), (77,
0), (78, 0), (79, 0), (80, 0), (81, 0), (82, 0), (83, 0), (84, 0), (85, 0),
(86, 0), (87, 0), (88, 0), (89, 0), (90, 0), (91, 0), (92, 0), (93, 0), (94,
0), (95, 0), (96, 0), (97, 0), (98, 0), (99, 0), (100, 0), (101, 0), (102, 0),
(103, 0), (104, 0), (105, 0), (106, 0), (107, 0), (108, 0), (109, 0), (110, 0),
(111, 0), (112, 0), (113, 0), (114, 0), (115, 0), (116, 0), (117, 0), (118, 0),
(119, 0), (120, 0), (121, 0), (122, 0), (123, 0), (124, 0), (125, 0), (126, 0),
(127, 0), (128, 0), (129, 0), (130, 0), (131, 0), (132, 0), (133, 0), (134, 0),
(135, 0), (136, 0), (137, 0), (138, 0), (139, 0), (140, 0), (141, 0), (142, 0),
(143, 0), (144, 0), (145, 0), (146, 0), (147, 0), (148, 0), (149, 0), (150, 0),
(151, 0), (0, 1), (1, 1)
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 11 +
include/roboptim/trajectory/cubic-b-spline.hh | 5 +-
include/roboptim/trajectory/cubic-b-spline.hxx | 98 +++-----
tests/spline-optimization.cc | 66 +++---
tests/spline-optimization.stdout | 212 +++++++++-------
tests/spline-time-optimization.cc | 11 +-
tests/spline-time-optimization.stdout | 322 +++++++++++++-----------
7 files changed, 369 insertions(+), 356 deletions(-)
hooks/post-receive
--
roboptim-trajectory
------------------------------------------------------------------------------
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