Should I define CartPoseTermInfo as constraint or costs

[lakshmip001]

How does TT_CNT differ from TT_COST? Which is best to reach end_pose with no error? And when asked to move from start_pose to end_pose, it moves to a end_pose with little error and due to the movement back from end_pose to start_pose . At the starting robot moves in the opposite direction that it should move and then moves back to the start_pose with error. Can you please help me to understand why it moves in the opposite direction and later moves in the other direction?

[gavanderhoorn]

@lakshmip001: have you had a chance to read the trajopt paper which explains the theoretical framework that is used? If not, please find it here: Finding Locally Optimal, Collision-FreeTrajectories with Sequential Convex Optimization.

That should get you familiar with the terminology, the mathematics and some of the trade-offs that go hand-in-hand with using a optimisation based approach to motion planning.

You might also want to take a look at the trajopt documentation that explains how things are then used (note: this is Python, and the docs are for the (very) old version of trajopt, but they could still help in understanding the basic approach to problem setup and context configuration).

[lakshmip001]

@gavanderhoorn thanks for the material . Actually I had this doubt because of the following issue

joschu/trajopt#29

I tried using both cost and constraint . It gives an output that it is converged but there is error at end_pose or at the starting of the trajectory .

[mpowelson]

I'm going to close this. If you are still needing more information or having the issue, feel free to reopen it.