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The gradient has not been calculated #2

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melancholyi opened this issue Jun 16, 2024 · 0 comments
Open

The gradient has not been calculated #2

melancholyi opened this issue Jun 16, 2024 · 0 comments

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@melancholyi
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This function of MPCController::computeHessianAndGradient() in the file of mpc_controller.cpp did not compute the gradient of MPC‘s cost function. The variable of gradient_ is only initialized as a "Zero Vector". I think there are some issues that lead to poor tracking performance, as shown in the test image in the file of README.md
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