![]() % that defines the constant elements in the Jacobian of F. % A is either a struct type or a matrix (dense or sparse) You could then add the snopt folder to your MATLAB path (make sure that you have compiled snopt and obtained a mex file for MATLAB). You could try to download snopt from their website (some universities might have an academic versions, and I think SNOPT still provides a free version with limits on 300 decision variables and constraints). I would recommend to use the implementation CoMDynamicsFullKinematicsPlanner just as a reference. ![]() ![]() Sorry I can't offer much help to fix the SNOPT issue. It is not used in trajectory optimization. This solver is used in simulating rigid body dynamics. Means that it cannot find the pathlcp solver.
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