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FinalProject-NumericalOptimizationInRobotics

The final project of Numerical Optimization in Robotics.

The trajectory generation and time optimal path parameterization (TOPP) are solved using LBFGS Lite and MOSEK Fusion, respectively.

Quick Start

catkin_make
source devel/setup.bash
roslaunch TOPP global_planning.launch

5c8ff-t1eo8

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