diff --git a/examples/log/bipedal_walking_from_foot_traj.log b/examples/log/bipedal_walking_from_foot_traj.log new file mode 100644 index 0000000000000000000000000000000000000000..49b62ed2c21b3a84101083024ff52ca2138a1a28 --- /dev/null +++ b/examples/log/bipedal_walking_from_foot_traj.log @@ -0,0 +1,48 @@ +iter cost theta gamma muV muLM alpha + 0 1.03743e+06 1.63259e+06 1.94435e+05 1.00000e-02 1.00000e-02 1.0000 + 1 5.97316e+05 2.53455e+08 2.05505e+06 1.00000e-02 1.00000e-02 0.2500 + 2 2.30384e+04 1.44429e+08 1.17797e+06 1.00000e-03 1.00000e-03 1.0000 + 3 1.36815e+04 4.82046e+06 3.88945e+04 1.00000e-03 1.00000e-03 0.2500 + 4 8.90606e+03 2.04226e+06 2.10165e+04 1.00000e-03 1.00000e-03 0.2500 + 5 3.20731e+03 9.08737e+05 1.22647e+04 1.00000e-04 1.00000e-04 1.0000 + 6 2.46061e+03 1.66476e+05 3.79151e+03 1.00000e-04 1.00000e-04 0.2500 + 7 1.92060e+03 1.15699e+05 3.16417e+03 1.00000e-04 1.00000e-04 0.2500 + 8 1.53405e+03 1.04004e+05 2.30158e+03 1.00000e-04 1.00000e-04 0.2500 + 9 1.26345e+03 9.23274e+04 1.59222e+03 1.00000e-04 1.00000e-04 0.2500 +iter cost theta gamma muV muLM alpha + 10 1.07032e+03 7.57459e+04 1.07737e+03 1.00000e-04 1.00000e-04 0.2500 + 11 1.02033e+03 5.59143e+04 6.99169e+02 1.00000e-05 1.00000e-05 1.0000 + 12 7.20019e+02 8.71351e+04 6.10324e+02 1.00000e-06 1.00000e-06 1.0000 + 13 7.17740e+02 5.44786e+02 8.02101e+00 1.00000e-07 1.00000e-07 1.0000 + 14 7.17084e+02 9.05674e+01 2.74220e+00 1.00000e-08 1.00000e-08 1.0000 + 15 7.16896e+02 2.13022e+01 1.05561e+00 1.00000e-09 1.00000e-09 1.0000 + 16 7.16808e+02 5.16376e+00 4.95125e-01 1.00000e-09 1.00000e-09 1.0000 + 17 7.16773e+02 1.36548e+00 2.28039e-01 1.00000e-09 1.00000e-09 1.0000 + 18 7.16755e+02 2.99884e-01 1.11998e-01 1.00000e-09 1.00000e-09 1.0000 + 19 7.16747e+02 9.18306e-02 5.43141e-02 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 20 7.16743e+02 1.90320e-02 2.69976e-02 1.00000e-09 1.00000e-09 1.0000 + 21 7.16741e+02 7.38495e-03 1.32939e-02 1.00000e-09 1.00000e-09 1.0000 + 22 7.16740e+02 1.58445e-03 6.61657e-03 1.00000e-09 1.00000e-09 1.0000 + 23 7.16740e+02 8.25973e-04 3.27546e-03 1.00000e-09 1.00000e-09 1.0000 + 24 7.16740e+02 2.26278e-04 1.62836e-03 1.00000e-09 1.00000e-09 1.0000 + 25 7.16740e+02 1.34503e-04 8.07205e-04 1.00000e-09 1.00000e-09 1.0000 + 26 7.16739e+02 4.86384e-05 4.01096e-04 1.00000e-09 1.00000e-09 1.0000 + 27 7.16739e+02 2.79566e-05 1.98973e-04 1.00000e-09 1.00000e-09 1.0000 + 28 7.16739e+02 1.19196e-05 9.88209e-05 1.00000e-09 1.00000e-09 1.0000 + 29 7.16739e+02 6.44342e-06 4.90507e-05 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 30 7.16739e+02 2.97610e-06 2.43607e-05 1.00000e-09 1.00000e-09 1.0000 + 31 7.16739e+02 1.54713e-06 1.20940e-05 1.00000e-09 1.00000e-09 1.0000 + 32 7.16739e+02 7.42012e-07 6.00776e-06 1.00000e-09 1.00000e-09 1.0000 + 33 7.16739e+02 3.77206e-07 2.98370e-06 1.00000e-09 1.00000e-09 1.0000 + 34 7.16739e+02 1.84092e-07 1.48185e-06 1.00000e-09 1.00000e-09 1.0000 + 35 7.16739e+02 9.24567e-08 7.36004e-07 1.00000e-09 1.00000e-09 1.0000 + 36 7.16739e+02 4.55713e-08 3.65572e-07 1.00000e-09 1.00000e-09 1.0000 + 37 7.16739e+02 2.27640e-08 1.81546e-07 1.00000e-09 1.00000e-09 1.0000 + 38 7.16739e+02 1.12629e-08 9.01573e-08 1.00000e-09 1.00000e-09 1.0000 + 39 7.16739e+02 5.60949e-09 4.47761e-08 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 40 7.16739e+02 2.78019e-09 2.22346e-08 1.00000e-09 1.00000e-09 1.0000 + 41 7.16739e+02 1.38313e-09 1.10420e-08 1.00000e-09 1.00000e-09 1.0000 + 42 7.16739e+02 6.85855e-10 5.48248e-09 1.00000e-09 1.00000e-09 1.0000 diff --git a/examples/log/jump.log b/examples/log/jump.log new file mode 100644 index 0000000000000000000000000000000000000000..4522bca2096e5cf28c0b873e7b3e5d1dc64d74ee --- /dev/null +++ b/examples/log/jump.log @@ -0,0 +1,210 @@ +*** SOLVE initial *** +iter cost theta gamma muV muLM alpha + 0 1.17752e+04 4.84898e+02 3.38333e+03 1.00000e-02 1.00000e-02 1.0000 + 1 4.38925e+03 8.91627e+02 2.22041e+04 1.00000e-02 1.00000e-02 0.2500 + 2 2.86041e+03 3.64311e+02 8.30093e+03 1.00000e-02 1.00000e-02 0.2500 + 3 2.25395e+03 1.29896e+02 3.82846e+03 1.00000e-02 1.00000e-02 0.2500 + 4 1.79721e+03 2.59220e+01 1.06197e+03 1.00000e-03 1.00000e-03 1.0000 + 5 1.44358e+03 1.87642e+01 1.70268e+03 1.00000e-03 1.00000e-03 0.2500 + 6 8.49918e+02 1.10607e+01 9.06348e+02 1.00000e-04 1.00000e-04 1.0000 + 7 7.16863e+02 2.10932e+00 2.32421e+02 1.00000e-05 1.00000e-05 1.0000 + 8 7.10433e+02 6.27027e-01 1.15715e+02 1.00000e-06 1.00000e-06 1.0000 + 9 6.23117e+02 1.26763e+00 2.53241e+02 1.00000e-07 1.00000e-07 1.0000 +iter cost theta gamma muV muLM alpha + 10 6.11135e+02 5.30626e-01 7.76004e+01 1.00000e-07 1.00000e-07 0.2500 + 11 5.96321e+02 2.30251e-01 3.45654e+01 1.00000e-08 1.00000e-08 1.0000 + 12 5.93957e+02 7.22858e-02 1.19901e+01 1.00000e-09 1.00000e-09 1.0000 + 13 5.90864e+02 9.57831e-02 1.64044e+01 1.00000e-09 1.00000e-09 0.2500 + 14 5.88635e+02 1.97074e-02 5.06485e+00 1.00000e-09 1.00000e-09 1.0000 + 15 5.87593e+02 3.27825e-02 6.22724e+00 1.00000e-09 1.00000e-09 1.0000 + 16 5.85743e+02 6.04902e-02 1.01268e+01 1.00000e-09 1.00000e-09 0.2500 + 17 5.84894e+02 1.12212e-02 2.55826e+00 1.00000e-09 1.00000e-09 1.0000 + 18 5.84222e+02 1.92921e-02 3.57535e+00 1.00000e-09 1.00000e-09 0.2500 + 19 5.83682e+02 3.94028e-03 1.09975e+00 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 20 5.83515e+02 7.35790e-03 1.32151e+00 1.00000e-09 1.00000e-09 1.0000 + 21 5.83089e+02 1.25528e-02 2.36734e+00 1.00000e-09 1.00000e-09 0.2500 + 22 5.82920e+02 2.10550e-03 5.42967e-01 1.00000e-09 1.00000e-09 1.0000 + 23 5.82764e+02 5.08193e-03 8.35411e-01 1.00000e-09 1.00000e-09 0.2500 + 24 5.82637e+02 1.19380e-03 2.51561e-01 1.00000e-09 1.00000e-09 1.0000 + 25 5.82591e+02 1.28555e-03 3.19637e-01 1.00000e-09 1.00000e-09 1.0000 + 26 5.82486e+02 3.61672e-03 5.83199e-01 1.00000e-09 1.00000e-09 0.2500 + 27 5.82436e+02 7.55502e-04 1.39236e-01 1.00000e-09 1.00000e-09 1.0000 + 28 5.82396e+02 8.78973e-04 2.11194e-01 1.00000e-09 1.00000e-09 0.2500 + 29 5.82356e+02 1.87217e-04 6.97869e-02 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 30 5.82336e+02 4.94209e-04 8.57072e-02 1.00000e-09 1.00000e-09 1.0000 + 31 5.82309e+02 6.34412e-04 1.48856e-01 1.00000e-09 1.00000e-09 0.2500 + 32 5.82290e+02 1.12983e-04 4.02906e-02 1.00000e-09 1.00000e-09 1.0000 + 33 5.82284e+02 3.32002e-04 5.65712e-02 1.00000e-09 1.00000e-09 1.0000 + 34 5.82263e+02 4.59882e-04 1.25481e-01 1.00000e-09 1.00000e-09 0.2500 + 35 5.82251e+02 6.01760e-05 2.66700e-02 1.00000e-09 1.00000e-09 1.0000 +*** SOLVE landing *** +iter cost theta gamma muV muLM alpha + 0 3.97747e+05 1.07194e+07 1.39810e+06 1.00000e-09 1.00000e-09 0.2500 + 1 3.83522e+03 6.06729e+06 7.93630e+05 1.00000e-09 1.00000e-09 1.0000 + 2 2.59941e+03 7.55297e+03 5.84094e+03 1.00000e-09 1.00000e-09 0.2500 + 3 1.91372e+03 4.21156e+03 3.27658e+03 1.00000e-09 1.00000e-09 0.2500 + 4 1.50543e+03 2.52392e+03 1.87729e+03 1.00000e-09 1.00000e-09 0.2500 + 5 1.12521e+03 1.49505e+03 1.05490e+03 1.00000e-09 1.00000e-09 1.0000 + 6 1.06569e+03 8.41869e+02 3.14549e+02 1.00000e-09 1.00000e-09 0.2500 + 7 9.98983e+02 5.29320e+02 2.01396e+02 1.00000e-09 1.00000e-09 1.0000 + 8 9.53458e+02 2.41810e+02 1.11477e+02 1.00000e-09 1.00000e-09 1.0000 + 9 9.43067e+02 1.09373e+02 5.51990e+01 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 10 9.36018e+02 6.85758e+01 3.61482e+01 1.00000e-09 1.00000e-09 0.2500 + 11 9.32849e+02 4.17018e+01 2.50392e+01 1.00000e-09 1.00000e-09 1.0000 + 12 9.20846e+02 5.54123e+01 2.86748e+01 1.00000e-09 1.00000e-09 1.0000 + 13 9.16790e+02 2.19141e+01 9.81442e+00 1.00000e-09 1.00000e-09 1.0000 + 14 9.14906e+02 7.21154e+00 5.54938e+00 1.00000e-09 1.00000e-09 1.0000 + 15 9.13739e+02 7.95856e+00 4.04728e+00 1.00000e-09 1.00000e-09 1.0000 + 16 9.13072e+02 1.82868e+00 3.48737e+00 1.00000e-09 1.00000e-09 0.2500 + 17 9.12643e+02 9.07874e-01 1.25880e+00 1.00000e-09 1.00000e-09 1.0000 + 18 9.12405e+02 6.58961e-01 1.22550e+00 1.00000e-09 1.00000e-09 0.2500 + 19 9.12166e+02 3.68469e-01 4.50616e-01 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 20 9.12064e+02 6.05674e-02 4.37950e-01 1.00000e-09 1.00000e-09 1.0000 + 21 9.11936e+02 1.17225e-01 6.85301e-01 1.00000e-09 1.00000e-09 0.2500 + 22 9.11810e+02 6.33621e-02 2.16856e-01 1.00000e-09 1.00000e-09 1.0000 + 23 9.11717e+02 2.39849e-02 2.72301e-01 1.00000e-09 1.00000e-09 1.0000 + 24 9.11673e+02 3.18881e-02 4.44807e-01 1.00000e-09 1.00000e-09 1.0000 + 25 9.11512e+02 4.60926e-02 8.87403e-01 1.00000e-09 1.00000e-09 0.2500 + 26 9.11394e+02 2.62107e-02 2.43793e-01 1.00000e-09 1.00000e-09 1.0000 + 27 9.11309e+02 2.48765e-02 3.75763e-01 1.00000e-09 1.00000e-09 1.0000 + 28 9.11175e+02 3.49071e-02 7.21250e-01 1.00000e-09 1.00000e-09 0.2500 + 29 9.11033e+02 2.28000e-02 2.34925e-01 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 30 9.10911e+02 2.62647e-02 3.40079e-01 1.00000e-09 1.00000e-09 1.0000 + 31 9.10796e+02 2.85872e-02 6.09433e-01 1.00000e-09 1.00000e-09 0.2500 + 32 9.10637e+02 2.21901e-02 2.31018e-01 1.00000e-09 1.00000e-09 1.0000 + 33 9.10493e+02 2.94269e-02 3.14356e-01 1.00000e-09 1.00000e-09 1.0000 + 34 9.10462e+02 2.63242e-02 5.26568e-01 1.00000e-09 1.00000e-09 1.0000 + 35 9.10249e+02 9.15375e-02 1.20273e+00 1.00000e-09 1.00000e-09 0.2500 + 36 9.10095e+02 5.69622e-02 3.07956e-01 1.00000e-09 1.00000e-09 1.0000 + 37 9.10062e+02 2.65940e-02 4.70903e-01 1.00000e-09 1.00000e-09 1.0000 + 38 9.09870e+02 9.55399e-02 1.09330e+00 1.00000e-09 1.00000e-09 0.2500 + 39 9.09733e+02 6.19876e-02 2.74205e-01 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 40 9.09654e+02 2.52812e-02 4.15128e-01 1.00000e-09 1.00000e-09 0.2500 + 41 9.09523e+02 2.68138e-02 1.74919e-01 1.00000e-09 1.00000e-09 1.0000 + 42 9.09424e+02 3.41631e-02 2.08241e-01 1.00000e-09 1.00000e-09 1.0000 + 43 9.09360e+02 1.96761e-02 3.40118e-01 1.00000e-09 1.00000e-09 0.2500 + 44 9.09265e+02 2.23826e-02 1.31005e-01 1.00000e-09 1.00000e-09 1.0000 + 45 9.09203e+02 2.89008e-02 1.54967e-01 1.00000e-09 1.00000e-09 1.0000 + 46 9.09153e+02 1.24245e-02 2.75262e-01 1.00000e-09 1.00000e-09 0.2500 + 47 9.09094e+02 1.48568e-02 8.81750e-02 1.00000e-09 1.00000e-09 1.0000 + 48 9.09066e+02 2.03960e-02 1.10165e-01 1.00000e-09 1.00000e-09 1.0000 + 49 9.09027e+02 6.62371e-03 2.26223e-01 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 50 9.08996e+02 7.73642e-03 5.50972e-02 1.00000e-09 1.00000e-09 1.0000 + 51 9.08990e+02 1.24863e-02 7.91407e-02 1.00000e-09 1.00000e-09 1.0000 + 52 9.08958e+02 4.04963e-03 1.93635e-01 1.00000e-09 1.00000e-09 0.2500 + 53 9.08944e+02 3.53258e-03 3.40560e-02 1.00000e-09 1.00000e-09 1.0000 + 54 9.08934e+02 7.30435e-03 6.04686e-02 1.00000e-09 1.00000e-09 0.2500 + 55 9.08922e+02 3.53556e-03 1.75109e-02 1.00000e-09 1.00000e-09 1.0000 + 56 9.08919e+02 6.95391e-04 2.21537e-02 1.00000e-09 1.00000e-09 1.0000 + 57 9.08910e+02 4.60634e-03 5.10851e-02 1.00000e-09 1.00000e-09 0.2500 + 58 9.08906e+02 1.71251e-03 9.74097e-03 1.00000e-09 1.00000e-09 1.0000 + 59 9.08903e+02 2.81070e-04 1.62856e-02 1.00000e-09 1.00000e-09 0.2500 +*** SOLVE frontal *** +iter cost theta gamma muV muLM alpha + 0 6.46557e+04 3.11492e+04 2.20738e+05 1.00000e-09 1.00000e-09 0.2500 + 1 3.61433e+04 2.11524e+04 1.26638e+05 1.00000e-09 1.00000e-09 0.2500 + 2 2.07422e+04 1.22126e+04 6.97234e+04 1.00000e-09 1.00000e-09 0.2500 + 3 1.21979e+04 6.67048e+03 3.89615e+04 1.00000e-09 1.00000e-09 0.2500 + 4 2.18863e+03 3.70673e+03 2.18953e+04 1.00000e-09 1.00000e-09 1.0000 + 5 1.77623e+03 9.75814e+03 1.90439e+03 1.00000e-09 1.00000e-09 0.2500 + 6 1.32703e+03 5.67230e+03 1.08219e+03 1.00000e-09 1.00000e-09 1.0000 + 7 1.28240e+03 1.05444e+03 2.23612e+02 1.00000e-09 1.00000e-09 0.2500 + 8 1.23254e+03 6.39476e+02 1.31176e+02 1.00000e-09 1.00000e-09 1.0000 + 9 1.21289e+03 4.90546e+01 7.58401e+01 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 10 1.20705e+03 1.89466e+01 2.87102e+01 1.00000e-09 1.00000e-09 0.2500 + 11 1.20542e+03 1.08783e+01 2.45650e+01 1.00000e-09 1.00000e-09 1.0000 + 12 1.19395e+03 2.05161e+01 4.62086e+01 1.00000e-09 1.00000e-09 1.0000 + 13 1.18601e+03 7.59707e+01 4.59414e+01 1.00000e-09 1.00000e-09 0.2500 + 14 1.18010e+03 4.74974e+01 3.57104e+01 1.00000e-09 1.00000e-09 0.2500 + 15 1.17520e+03 3.10830e+01 2.76156e+01 1.00000e-09 1.00000e-09 0.2500 + 16 1.16979e+03 1.95424e+01 1.80814e+01 1.00000e-09 1.00000e-09 1.0000 + 17 1.16537e+03 1.19734e+01 1.04695e+01 1.00000e-09 1.00000e-09 1.0000 + 18 1.16431e+03 9.28818e+00 2.49838e+00 1.00000e-09 1.00000e-09 1.0000 + 19 1.16418e+03 2.11432e-01 8.01254e-01 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 20 1.16414e+03 1.30541e-01 2.04241e-01 1.00000e-09 1.00000e-09 1.0000 + 21 1.16410e+03 7.48464e-03 2.12085e-01 1.00000e-09 1.00000e-09 0.2500 + 22 1.16410e+03 5.97707e-03 3.24969e-02 1.00000e-09 1.00000e-09 0.2500 + 23 1.16409e+03 3.62137e-03 1.11515e-02 1.00000e-09 1.00000e-09 1.0000 + 24 1.16409e+03 1.34343e-04 6.06186e-03 1.00000e-09 1.00000e-09 0.2500 +*** SOLVE lateral *** +iter cost theta gamma muV muLM alpha + 0 3.95826e+04 8.28784e+03 1.36707e+05 1.00000e-09 1.00000e-09 0.2500 + 1 2.27974e+04 4.88596e+03 7.69151e+04 1.00000e-09 1.00000e-09 0.2500 + 2 1.33070e+04 2.86973e+03 4.33723e+04 1.00000e-09 1.00000e-09 0.2500 + 3 7.95631e+03 1.69764e+03 2.44131e+04 1.00000e-09 1.00000e-09 0.2500 + 4 4.94506e+03 9.98378e+02 1.37268e+04 1.00000e-09 1.00000e-09 0.2500 + 5 1.24528e+03 5.83293e+02 7.71513e+03 1.00000e-09 1.00000e-09 1.0000 + 6 1.17756e+03 1.41556e+03 3.43043e+02 1.00000e-09 1.00000e-09 0.2500 + 7 1.14919e+03 9.16154e+02 2.08060e+02 1.00000e-09 1.00000e-09 1.0000 + 8 1.07055e+03 9.57607e+02 1.57847e+02 1.00000e-09 1.00000e-09 1.0000 + 9 1.06603e+03 1.02598e+01 7.18760e+00 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 10 1.06386e+03 3.63292e-01 3.98680e+00 1.00000e-09 1.00000e-09 1.0000 + 11 1.06264e+03 5.63401e-01 5.73930e+00 1.00000e-09 1.00000e-09 1.0000 + 12 1.06094e+03 1.17568e+00 1.23105e+01 1.00000e-09 1.00000e-09 0.2500 + 13 1.05871e+03 8.90601e-01 4.94598e+00 1.00000e-09 1.00000e-09 1.0000 + 14 1.05803e+03 1.26873e+00 5.72806e+00 1.00000e-09 1.00000e-09 1.0000 + 15 1.05658e+03 5.24885e+00 1.08083e+01 1.00000e-09 1.00000e-09 0.2500 + 16 1.05483e+03 3.38050e+00 4.01768e+00 1.00000e-09 1.00000e-09 1.0000 + 17 1.05434e+03 1.95388e+00 2.48208e+00 1.00000e-09 1.00000e-09 0.2500 + 18 1.05382e+03 1.13402e+00 9.68713e-01 1.00000e-09 1.00000e-09 1.0000 + 19 1.05373e+03 6.92773e-02 5.18577e-01 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 20 1.05362e+03 3.89748e-02 1.78973e-01 1.00000e-09 1.00000e-09 1.0000 + 21 1.05360e+03 2.79013e-03 1.28984e-01 1.00000e-09 1.00000e-09 0.2500 + 22 1.05357e+03 1.06669e-03 4.78157e-02 1.00000e-09 1.00000e-09 1.0000 + 23 1.05356e+03 4.84146e-04 3.92152e-02 1.00000e-09 1.00000e-09 1.0000 +*** SOLVE twist *** +iter cost theta gamma muV muLM alpha + 0 1.25102e+06 1.03035e+07 4.50663e+06 1.00000e-09 1.00000e-09 0.2500 + 1 6.96448e+05 5.50090e+06 2.49997e+06 1.00000e-09 1.00000e-09 0.2500 + 2 3.91216e+05 3.16687e+06 1.39083e+06 1.00000e-09 1.00000e-09 0.2500 + 3 2.48657e+03 1.81163e+06 7.80381e+05 1.00000e-09 1.00000e-09 1.0000 + 4 1.72831e+03 1.68558e+04 3.00909e+03 1.00000e-09 1.00000e-09 0.2500 + 5 1.39556e+03 7.86263e+03 1.46638e+03 1.00000e-09 1.00000e-09 0.2500 + 6 1.11348e+03 4.12505e+03 7.98949e+02 1.00000e-09 1.00000e-09 1.0000 + 7 1.02522e+03 1.42417e+03 2.47630e+02 1.00000e-09 1.00000e-09 1.0000 + 8 1.02024e+03 3.01791e+02 8.12887e+01 1.00000e-09 1.00000e-09 1.0000 + 9 1.00533e+03 9.15913e+01 8.88639e+01 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 10 9.94638e+02 6.32033e+01 4.03602e+01 1.00000e-09 1.00000e-09 1.0000 + 11 9.89641e+02 3.79437e+01 2.64194e+01 1.00000e-09 1.00000e-09 0.2500 + 12 9.84874e+02 2.12862e+01 1.06981e+01 1.00000e-09 1.00000e-09 1.0000 + 13 9.83940e+02 3.06943e-01 4.89461e+00 1.00000e-09 1.00000e-09 0.2500 + 14 9.82833e+02 1.63210e-01 1.73742e+00 1.00000e-09 1.00000e-09 1.0000 + 15 9.82071e+02 5.09380e-02 2.20235e+00 1.00000e-09 1.00000e-09 1.0000 + 16 9.81327e+02 1.84922e-01 3.91515e+00 1.00000e-09 1.00000e-09 0.2500 + 17 9.80354e+02 1.07013e-01 1.42560e+00 1.00000e-09 1.00000e-09 1.0000 + 18 9.79621e+02 3.59286e-02 1.83811e+00 1.00000e-09 1.00000e-09 1.0000 + 19 9.79015e+02 1.51002e-01 3.18235e+00 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 20 9.78172e+02 8.80226e-02 1.19457e+00 1.00000e-09 1.00000e-09 1.0000 + 21 9.77582e+02 2.46122e-02 1.44727e+00 1.00000e-09 1.00000e-09 1.0000 + 22 9.77122e+02 1.06257e-01 2.44165e+00 1.00000e-09 1.00000e-09 0.2500 + 23 9.76541e+02 5.84889e-02 8.57744e-01 1.00000e-09 1.00000e-09 1.0000 + 24 9.76210e+02 1.41481e-02 1.00110e+00 1.00000e-09 1.00000e-09 1.0000 + 25 9.75886e+02 6.00242e-02 1.78373e+00 1.00000e-09 1.00000e-09 0.2500 + 26 9.75586e+02 2.93543e-02 5.10015e-01 1.00000e-09 1.00000e-09 1.0000 + 27 9.75474e+02 8.34873e-03 6.48179e-01 1.00000e-09 1.00000e-09 1.0000 + 28 9.75240e+02 3.23643e-02 1.33758e+00 1.00000e-09 1.00000e-09 0.2500 + 29 9.75112e+02 1.35240e-02 2.88576e-01 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 30 9.75028e+02 5.99756e-03 4.44540e-01 1.00000e-09 1.00000e-09 0.2500 + 31 9.74928e+02 1.89281e-03 1.51729e-01 1.00000e-09 1.00000e-09 1.0000 + 32 9.74880e+02 2.63301e-03 1.78020e-01 1.00000e-09 1.00000e-09 1.0000 + 33 9.74819e+02 4.40128e-03 3.39216e-01 1.00000e-09 1.00000e-09 0.2500 + 34 9.74771e+02 1.13637e-03 8.79782e-02 1.00000e-09 1.00000e-09 1.0000 + 35 9.74757e+02 1.67590e-03 1.25228e-01 1.00000e-09 1.00000e-09 1.0000 + 36 9.74709e+02 3.41738e-03 2.79454e-01 1.00000e-09 1.00000e-09 0.2500 + 37 9.74686e+02 7.39174e-04 5.68904e-02 1.00000e-09 1.00000e-09 1.0000 + 38 9.74668e+02 1.18968e-03 9.66873e-02 1.00000e-09 1.00000e-09 0.2500 + 39 9.74647e+02 4.02333e-04 3.13116e-02 1.00000e-09 1.00000e-09 1.0000 diff --git a/examples/log/salto.log b/examples/log/salto.log new file mode 100644 index 0000000000000000000000000000000000000000..eaebfc45fefa5cae8108a5bca73ecd8d4db52536 --- /dev/null +++ b/examples/log/salto.log @@ -0,0 +1,290 @@ +*** SOLVE initial *** +*** SOLVE angle ang=0.5 *** +iter cost theta gamma muV muLM alpha + 0 2.03149e+04 1.27466e+05 8.41493e+04 1.00000e-02 1.00000e-02 1.0000 + 1 1.26146e+04 1.18408e+04 3.85829e+04 1.00000e-02 1.00000e-02 0.2500 + 2 7.89763e+03 7.44418e+03 2.32969e+04 1.00000e-02 1.00000e-02 0.2500 + 3 5.03877e+03 4.51136e+03 1.38557e+04 1.00000e-02 1.00000e-02 0.2500 + 4 1.26728e+03 2.63936e+03 8.11425e+03 1.00000e-03 1.00000e-03 1.0000 + 5 1.16441e+03 5.45688e+02 6.39642e+02 1.00000e-04 1.00000e-04 1.0000 + 6 1.06199e+03 7.32138e+02 4.72469e+02 1.00000e-04 1.00000e-04 0.2500 + 7 9.68118e+02 4.07567e+02 2.68229e+02 1.00000e-05 1.00000e-05 1.0000 + 8 9.41607e+02 2.51232e+02 8.62971e+01 1.00000e-06 1.00000e-06 1.0000 + 9 9.25936e+02 2.62158e+01 3.31571e+01 1.00000e-07 1.00000e-07 1.0000 +iter cost theta gamma muV muLM alpha + 10 9.25801e+02 9.59331e-02 1.95406e+00 1.00000e-07 1.00000e-07 0.2500 + 11 9.25529e+02 5.83822e-02 7.64478e-01 1.00000e-08 1.00000e-08 1.0000 + 12 9.25466e+02 5.00552e-03 3.55337e-01 1.00000e-08 1.00000e-08 0.2500 + 13 9.25459e+02 3.49501e-03 7.03672e-02 1.00000e-09 1.00000e-09 1.0000 +*** SOLVE angle ang=0.8 *** +iter cost theta gamma muV muLM alpha + 0 9.86177e+02 4.83389e+04 3.54555e+04 1.00000e-02 1.00000e-02 1.0000 + 1 9.24032e+02 1.90587e+01 3.03535e+02 1.00000e-02 1.00000e-02 0.2500 + 2 8.68276e+02 6.79689e+00 9.90112e+01 1.00000e-03 1.00000e-03 1.0000 + 3 8.49118e+02 2.49764e+00 3.10315e+01 1.00000e-04 1.00000e-04 1.0000 + 4 8.41985e+02 8.84778e-01 1.26841e+01 1.00000e-05 1.00000e-05 1.0000 + 5 8.40706e+02 2.69134e-01 2.21368e+01 1.00000e-05 1.00000e-05 0.0625 + 6 8.39929e+02 2.16516e-01 1.64995e+00 1.00000e-06 1.00000e-06 1.0000 + 7 8.39898e+02 3.02444e-02 6.17788e-01 1.00000e-07 1.00000e-07 1.0000 + 8 8.39747e+02 1.16736e-02 8.50814e-01 1.00000e-07 1.00000e-07 0.2500 + 9 8.39718e+02 3.26858e-03 1.55275e-01 1.00000e-07 1.00000e-07 0.2500 +*** SOLVE angle ang=1.1 *** +iter cost theta gamma muV muLM alpha + 0 9.80416e+02 4.40433e+04 3.55830e+04 1.00000e-02 1.00000e-02 1.0000 + 1 9.59644e+02 8.92173e+00 1.60346e+02 1.00000e-03 1.00000e-03 1.0000 + 2 8.82196e+02 1.89244e+01 1.49381e+02 1.00000e-04 1.00000e-04 1.0000 + 3 8.79417e+02 3.55737e-01 5.11098e+01 1.00000e-04 1.00000e-04 0.0625 + 4 8.71331e+02 3.13016e-01 2.64936e+01 1.00000e-05 1.00000e-05 1.0000 + 5 8.68894e+02 2.74516e-01 1.27728e+01 1.00000e-05 1.00000e-05 0.2500 + 6 8.68360e+02 1.42768e-01 3.62022e+00 1.00000e-06 1.00000e-06 1.0000 + 7 8.67760e+02 2.09668e-02 3.24530e+00 1.00000e-06 1.00000e-06 0.2500 + 8 8.67611e+02 8.70691e-03 7.92649e-01 1.00000e-06 1.00000e-06 0.2500 + 9 8.67573e+02 4.54226e-03 2.21883e-01 1.00000e-07 1.00000e-07 1.0000 +*** SOLVE angle ang=1.4 *** +iter cost theta gamma muV muLM alpha + 0 1.05473e+03 4.39249e+04 3.56210e+04 1.00000e-02 1.00000e-02 1.0000 + 1 1.01014e+03 5.14560e+00 7.57607e+01 1.00000e-03 1.00000e-03 1.0000 + 2 1.00759e+03 3.56324e+00 4.62272e+01 1.00000e-04 1.00000e-04 1.0000 + 3 9.71636e+02 6.06084e+00 6.71347e+01 1.00000e-05 1.00000e-05 1.0000 + 4 9.70136e+02 5.43691e-01 3.95185e+01 1.00000e-05 1.00000e-05 0.0625 + 5 9.69001e+02 4.68560e-01 3.11464e+00 1.00000e-06 1.00000e-06 1.0000 + 6 9.68722e+02 2.94381e-01 1.44101e+00 1.00000e-06 1.00000e-06 0.2500 + 7 9.68580e+02 1.72284e-01 4.74007e-01 1.00000e-07 1.00000e-07 1.0000 + 8 9.68559e+02 1.44138e-02 3.42985e-01 1.00000e-08 1.00000e-08 1.0000 + 9 9.68481e+02 5.59032e-02 4.29089e-01 1.00000e-08 1.00000e-08 0.2500 +iter cost theta gamma muV muLM alpha + 10 9.68469e+02 3.61422e-02 1.00435e-01 1.00000e-09 1.00000e-09 1.0000 + 11 9.68446e+02 1.96887e-03 1.21834e-01 1.00000e-09 1.00000e-09 0.2500 +*** SOLVE angle ang=1.7 *** +iter cost theta gamma muV muLM alpha + 0 1.13029e+03 4.40089e+04 3.57076e+04 1.00000e-02 1.00000e-02 1.0000 + 1 1.08420e+03 6.73109e+00 9.05236e+01 1.00000e-03 1.00000e-03 1.0000 + 2 1.06307e+03 6.21345e-01 3.41978e+01 1.00000e-04 1.00000e-04 1.0000 + 3 1.04957e+03 1.31566e+01 2.24009e+01 1.00000e-05 1.00000e-05 1.0000 + 4 1.04784e+03 2.35496e+00 3.04077e+00 1.00000e-06 1.00000e-06 1.0000 + 5 1.04768e+03 9.05602e-03 4.65518e-01 1.00000e-07 1.00000e-07 1.0000 + 6 1.04762e+03 5.88562e-03 3.19578e-01 1.00000e-07 1.00000e-07 0.2500 + 7 1.04760e+03 2.64314e-03 9.41757e-02 1.00000e-08 1.00000e-08 1.0000 +*** SOLVE angle ang=2.0 *** +iter cost theta gamma muV muLM alpha + 0 1.19269e+03 4.42583e+04 3.58114e+04 1.00000e-02 1.00000e-02 1.0000 + 1 1.10743e+03 1.08362e+01 1.55474e+02 1.00000e-03 1.00000e-03 1.0000 + 2 1.08400e+03 4.69066e-01 3.87715e+01 1.00000e-04 1.00000e-04 1.0000 + 3 1.07636e+03 8.67376e-01 1.29745e+01 1.00000e-05 1.00000e-05 1.0000 + 4 1.07536e+03 6.32584e-02 1.80988e+00 1.00000e-06 1.00000e-06 1.0000 + 5 1.07522e+03 3.04736e-03 3.00118e-01 1.00000e-07 1.00000e-07 1.0000 +*** SOLVE angle ang=2.3 *** +iter cost theta gamma muV muLM alpha + 0 1.23880e+03 4.47335e+04 3.58080e+04 1.00000e-02 1.00000e-02 1.0000 + 1 1.20233e+03 7.04175e+00 1.25628e+02 1.00000e-03 1.00000e-03 1.0000 + 2 1.16283e+03 2.82531e+00 7.77465e+01 1.00000e-04 1.00000e-04 1.0000 + 3 1.15714e+03 3.22961e+00 1.07531e+01 1.00000e-05 1.00000e-05 1.0000 + 4 1.15607e+03 1.68866e+00 5.31184e+00 1.00000e-05 1.00000e-05 0.2500 + 5 1.15413e+03 1.23522e+00 2.79588e+00 1.00000e-06 1.00000e-06 1.0000 + 6 1.15269e+03 6.66376e-01 3.06923e+00 1.00000e-07 1.00000e-07 1.0000 + 7 1.15141e+03 3.34135e+00 5.41555e+00 1.00000e-08 1.00000e-08 1.0000 + 8 1.14956e+03 4.77540e+00 9.80312e+00 1.00000e-08 1.00000e-08 0.2500 + 9 1.14833e+03 3.07698e+00 4.95770e+00 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 10 1.14456e+03 1.77100e+01 8.20574e+00 1.00000e-09 1.00000e-09 1.0000 + 11 1.14373e+03 8.03300e-01 5.63102e+00 1.00000e-09 1.00000e-09 1.0000 + 12 1.14223e+03 2.81170e+00 8.57089e+00 1.00000e-09 1.00000e-09 0.2500 + 13 1.14100e+03 1.83086e+00 3.49992e+00 1.00000e-09 1.00000e-09 1.0000 + 14 1.14062e+03 2.22522e+00 3.07185e+00 1.00000e-09 1.00000e-09 1.0000 + 15 1.13996e+03 1.68558e+00 4.02651e+00 1.00000e-09 1.00000e-09 0.2500 + 16 1.13953e+03 1.53030e+00 1.56818e+00 1.00000e-09 1.00000e-09 1.0000 + 17 1.13927e+03 1.05793e+00 1.36178e+00 1.00000e-09 1.00000e-09 0.2500 + 18 1.13902e+03 7.00739e-01 5.52514e-01 1.00000e-09 1.00000e-09 1.0000 + 19 1.13897e+03 2.61452e-02 3.56268e-01 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 20 1.13888e+03 2.15245e-01 4.81398e-01 1.00000e-09 1.00000e-09 0.2500 + 21 1.13881e+03 1.44764e-01 1.74551e-01 1.00000e-09 1.00000e-09 1.0000 + 22 1.13878e+03 9.03011e-03 1.48236e-01 1.00000e-09 1.00000e-09 1.0000 + 23 1.13876e+03 4.10359e-02 1.95205e-01 1.00000e-09 1.00000e-09 1.0000 + 24 1.13871e+03 6.86569e-02 2.71837e-01 1.00000e-09 1.00000e-09 0.2500 + 25 1.13868e+03 4.68758e-02 8.68469e-02 1.00000e-09 1.00000e-09 1.0000 + 26 1.13867e+03 9.15344e-03 9.37289e-02 1.00000e-09 1.00000e-09 1.0000 + 27 1.13866e+03 1.68979e-02 1.24819e-01 1.00000e-09 1.00000e-09 1.0000 + 28 1.13863e+03 4.35701e-02 1.76628e-01 1.00000e-09 1.00000e-09 0.2500 + 29 1.13861e+03 2.98670e-02 5.73110e-02 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 30 1.13859e+03 4.27101e-03 6.19620e-02 1.00000e-09 1.00000e-09 1.0000 +*** SOLVE angle ang=2.6 *** +iter cost theta gamma muV muLM alpha + 0 1.36257e+03 4.55661e+04 3.57865e+04 1.00000e-02 1.00000e-02 1.0000 + 1 1.27820e+03 1.57337e+01 1.94907e+02 1.00000e-03 1.00000e-03 1.0000 + 2 1.24000e+03 1.48593e+01 8.57895e+01 1.00000e-04 1.00000e-04 1.0000 + 3 1.22852e+03 9.49176e+00 2.13620e+01 1.00000e-05 1.00000e-05 1.0000 + 4 1.22688e+03 4.03453e-01 2.48013e+00 1.00000e-06 1.00000e-06 1.0000 + 5 1.22593e+03 3.28034e-01 1.43169e+00 1.00000e-07 1.00000e-07 1.0000 + 6 1.22535e+03 9.36485e-02 9.34309e-01 1.00000e-08 1.00000e-08 1.0000 + 7 1.22498e+03 6.26888e-02 7.82975e-01 1.00000e-09 1.00000e-09 1.0000 + 8 1.22477e+03 2.23888e-02 8.08833e-01 1.00000e-09 1.00000e-09 1.0000 + 9 1.22456e+03 1.41739e-02 1.10781e+00 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 10 1.22440e+03 7.14891e-03 3.51722e-01 1.00000e-09 1.00000e-09 1.0000 + 11 1.22432e+03 4.53796e-03 4.24337e-01 1.00000e-09 1.00000e-09 1.0000 +*** SOLVE angle ang=2.9 *** +iter cost theta gamma muV muLM alpha + 0 1.39244e+03 4.62641e+04 3.57985e+04 1.00000e-02 1.00000e-02 1.0000 + 1 1.32344e+03 1.04250e+01 1.28107e+02 1.00000e-03 1.00000e-03 1.0000 + 2 1.30840e+03 7.25977e-01 2.75282e+01 1.00000e-04 1.00000e-04 1.0000 + 3 1.30425e+03 6.57366e+00 1.01272e+01 1.00000e-05 1.00000e-05 1.0000 + 4 1.30209e+03 1.61881e+01 8.56747e+00 1.00000e-06 1.00000e-06 1.0000 + 5 1.30037e+03 8.39829e+00 9.41820e+00 1.00000e-06 1.00000e-06 0.2500 + 6 1.29932e+03 4.82012e+00 2.66736e+00 1.00000e-07 1.00000e-07 1.0000 + 7 1.29884e+03 4.54728e-01 2.64555e+00 1.00000e-07 1.00000e-07 0.2500 + 8 1.29841e+03 2.71738e-01 7.54048e-01 1.00000e-08 1.00000e-08 1.0000 + 9 1.29827e+03 5.91573e-02 9.79327e-01 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 10 1.29787e+03 2.36256e-02 2.30152e+00 1.00000e-09 1.00000e-09 0.2500 + 11 1.29758e+03 7.85858e-03 5.25525e-01 1.00000e-09 1.00000e-09 1.0000 + 12 1.29749e+03 1.22110e-02 8.89967e-01 1.00000e-09 1.00000e-09 1.0000 + 13 1.29709e+03 2.08733e-02 2.27469e+00 1.00000e-09 1.00000e-09 0.2500 + 14 1.29681e+03 5.07603e-03 5.13326e-01 1.00000e-09 1.00000e-09 1.0000 + 15 1.29670e+03 1.04330e-02 8.97240e-01 1.00000e-09 1.00000e-09 1.0000 + 16 1.29629e+03 2.32913e-02 2.30191e+00 1.00000e-09 1.00000e-09 0.2500 + 17 1.29598e+03 5.65008e-03 5.48800e-01 1.00000e-09 1.00000e-09 1.0000 + 18 1.29583e+03 1.12963e-02 9.46606e-01 1.00000e-09 1.00000e-09 1.0000 + 19 1.29541e+03 2.73094e-02 2.34820e+00 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 20 1.29503e+03 7.03751e-03 6.19973e-01 1.00000e-09 1.00000e-09 1.0000 + 21 1.29481e+03 1.28602e-02 1.03118e+00 1.00000e-09 1.00000e-09 1.0000 + 22 1.29437e+03 3.29756e-02 2.38931e+00 1.00000e-09 1.00000e-09 0.2500 + 23 1.29390e+03 9.37045e-03 7.27561e-01 1.00000e-09 1.00000e-09 1.0000 + 24 1.29357e+03 1.48308e-02 1.14513e+00 1.00000e-09 1.00000e-09 1.0000 + 25 1.29311e+03 4.00234e-02 2.38726e+00 1.00000e-09 1.00000e-09 0.2500 + 26 1.29252e+03 1.28768e-02 8.69397e-01 1.00000e-09 1.00000e-09 1.0000 + 27 1.29201e+03 1.67848e-02 1.27130e+00 1.00000e-09 1.00000e-09 1.0000 + 28 1.29161e+03 4.68375e-02 2.28732e+00 1.00000e-09 1.00000e-09 1.0000 + 29 1.29080e+03 5.67899e-02 4.24135e+00 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 30 1.29002e+03 1.40367e-02 1.32725e+00 1.00000e-09 1.00000e-09 1.0000 + 31 1.28923e+03 3.95064e-02 1.86635e+00 1.00000e-09 1.00000e-09 1.0000 + 32 1.28896e+03 3.60708e-02 2.77372e+00 1.00000e-09 1.00000e-09 1.0000 + 33 1.28809e+03 2.02847e-01 5.30249e+00 1.00000e-09 1.00000e-09 1.0000 + 34 1.28686e+03 7.69907e-02 6.31906e+00 1.00000e-09 1.00000e-09 0.2500 + 35 1.28574e+03 2.06762e-02 2.23274e+00 1.00000e-09 1.00000e-09 1.0000 + 36 1.28456e+03 8.51414e-02 2.63132e+00 1.00000e-09 1.00000e-09 1.0000 + 37 1.28368e+03 3.26165e-02 2.79801e+00 1.00000e-09 1.00000e-09 1.0000 + 38 1.28227e+03 1.90839e-01 3.70057e+00 1.00000e-09 1.00000e-09 1.0000 + 39 1.28130e+03 3.62117e-02 3.07011e+00 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 40 1.27984e+03 2.09389e-01 3.55146e+00 1.00000e-09 1.00000e-09 1.0000 + 41 1.27875e+03 2.78820e-02 2.59582e+00 1.00000e-09 1.00000e-09 1.0000 + 42 1.27753e+03 1.29838e-01 2.52524e+00 1.00000e-09 1.00000e-09 1.0000 + 43 1.27654e+03 1.84447e-02 1.92121e+00 1.00000e-09 1.00000e-09 1.0000 + 44 1.27563e+03 5.82996e-02 1.68984e+00 1.00000e-09 1.00000e-09 1.0000 + 45 1.27486e+03 1.16343e-02 1.40160e+00 1.00000e-09 1.00000e-09 1.0000 + 46 1.27422e+03 2.49092e-02 1.20855e+00 1.00000e-09 1.00000e-09 1.0000 + 47 1.27370e+03 8.32370e-03 1.05094e+00 1.00000e-09 1.00000e-09 1.0000 + 48 1.27329e+03 1.30775e-02 9.23877e-01 1.00000e-09 1.00000e-09 1.0000 + 49 1.27297e+03 7.23640e-03 8.39533e-01 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 50 1.27274e+03 9.17776e-03 8.00821e-01 1.00000e-09 1.00000e-09 1.0000 + 51 1.27255e+03 8.43742e-03 7.55942e-01 1.00000e-09 1.00000e-09 1.0000 + 52 1.27240e+03 7.79298e-03 7.20247e-01 1.00000e-09 1.00000e-09 1.0000 + 53 1.27231e+03 6.44873e-03 6.64070e-01 1.00000e-09 1.00000e-09 1.0000 + 54 1.27217e+03 7.16156e-03 7.11752e-01 1.00000e-09 1.00000e-09 0.2500 + 55 1.27211e+03 2.41864e-03 2.15028e-01 1.00000e-09 1.00000e-09 1.0000 +*** SOLVE angle ang=3.2 *** +iter cost theta gamma muV muLM alpha + 0 1.43231e+03 4.59705e+04 3.57979e+04 1.00000e-02 1.00000e-02 1.0000 + 1 1.35784e+03 1.40413e+01 1.37411e+02 1.00000e-03 1.00000e-03 1.0000 + 2 1.35033e+03 1.04263e+00 1.29792e+01 1.00000e-04 1.00000e-04 1.0000 + 3 1.34856e+03 1.54569e-01 2.77191e+00 1.00000e-05 1.00000e-05 1.0000 + 4 1.34816e+03 3.62816e-02 6.36229e-01 1.00000e-06 1.00000e-06 1.0000 + 5 1.34808e+03 6.85704e-03 1.93976e-01 1.00000e-07 1.00000e-07 1.0000 + 6 1.34807e+03 2.36427e-03 1.43317e-01 1.00000e-08 1.00000e-08 1.0000 +*** SOLVE landing *** +iter cost theta gamma muV muLM alpha + 0 1.84668e+05 4.52932e+06 6.54977e+05 1.00000e-09 1.00000e-09 0.2500 + 1 1.05011e+05 2.37447e+06 3.64156e+05 1.00000e-09 1.00000e-09 0.2500 + 2 6.03252e+04 1.27794e+06 2.04820e+05 1.00000e-09 1.00000e-09 0.2500 + 3 3.57063e+04 6.81083e+05 1.15517e+05 1.00000e-09 1.00000e-09 0.2500 + 4 2.20003e+04 4.01562e+05 6.63763e+04 1.00000e-09 1.00000e-09 0.2500 + 5 1.41204e+04 2.83951e+05 3.90526e+04 1.00000e-09 1.00000e-09 0.2500 + 6 9.46105e+03 2.15037e+05 2.33634e+04 1.00000e-09 1.00000e-09 0.2500 + 7 6.65944e+03 1.57627e+05 1.40975e+04 1.00000e-09 1.00000e-09 0.2500 + 8 4.96694e+03 1.12259e+05 8.53351e+03 1.00000e-09 1.00000e-09 0.2500 + 9 3.94445e+03 7.94337e+04 5.17914e+03 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 10 3.32289e+03 5.64066e+04 3.15932e+03 1.00000e-09 1.00000e-09 0.2500 + 11 2.69928e+03 3.96678e+04 1.93772e+03 1.00000e-09 1.00000e-09 1.0000 + 12 2.51541e+03 3.77134e+04 7.43669e+02 1.00000e-09 1.00000e-09 0.2500 + 13 2.42443e+03 1.81413e+04 3.83190e+02 1.00000e-09 1.00000e-09 0.2500 + 14 2.37680e+03 9.24884e+03 2.11484e+02 1.00000e-09 1.00000e-09 0.2500 + 15 2.34972e+03 5.18666e+03 1.27308e+02 1.00000e-09 1.00000e-09 0.2500 + 16 2.33309e+03 3.25052e+03 8.41618e+01 1.00000e-09 1.00000e-09 0.2500 + 17 2.32204e+03 2.31242e+03 6.15222e+01 1.00000e-09 1.00000e-09 0.2500 + 18 2.31401e+03 1.86109e+03 4.94580e+01 1.00000e-09 1.00000e-09 0.2500 + 19 2.30758e+03 1.63711e+03 4.27158e+01 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 20 2.30197e+03 1.50135e+03 3.84127e+01 1.00000e-09 1.00000e-09 0.2500 + 21 2.29682e+03 1.38152e+03 3.50026e+01 1.00000e-09 1.00000e-09 0.2500 + 22 2.29198e+03 1.24589e+03 3.17388e+01 1.00000e-09 1.00000e-09 0.2500 + 23 2.28743e+03 1.08762e+03 2.83537e+01 1.00000e-09 1.00000e-09 0.2500 + 24 2.28321e+03 9.13852e+02 2.48496e+01 1.00000e-09 1.00000e-09 0.2500 + 25 2.27937e+03 7.37621e+02 2.13555e+01 1.00000e-09 1.00000e-09 0.2500 + 26 2.27596e+03 5.72189e+02 1.80312e+01 1.00000e-09 1.00000e-09 0.2500 + 27 2.27299e+03 4.27607e+02 1.50109e+01 1.00000e-09 1.00000e-09 0.2500 + 28 2.27045e+03 3.09323e+02 1.23775e+01 1.00000e-09 1.00000e-09 0.2500 + 29 2.26830e+03 2.18334e+02 1.01589e+01 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 30 2.26650e+03 1.52269e+02 8.33871e+00 1.00000e-09 1.00000e-09 0.2500 + 31 2.26500e+03 1.06800e+02 6.87189e+00 1.00000e-09 1.00000e-09 0.2500 + 32 2.26375e+03 7.69381e+01 5.70006e+00 1.00000e-09 1.00000e-09 0.2500 + 33 2.26270e+03 5.79822e+01 4.76375e+00 1.00000e-09 1.00000e-09 0.2500 + 34 2.26182e+03 4.60574e+01 4.00987e+00 1.00000e-09 1.00000e-09 0.2500 + 35 2.26108e+03 3.82997e+01 3.39521e+00 1.00000e-09 1.00000e-09 0.2500 + 36 2.26045e+03 3.27994e+01 2.88684e+00 1.00000e-09 1.00000e-09 0.2500 + 37 2.25991e+03 2.84179e+01 2.46089e+00 1.00000e-09 1.00000e-09 0.2500 + 38 2.25945e+03 2.45662e+01 2.10050e+00 1.00000e-09 1.00000e-09 0.2500 + 39 2.25924e+03 2.10027e+01 1.79379e+00 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 40 2.25758e+03 2.29001e+02 3.25985e+00 1.00000e-09 1.00000e-09 1.0000 + 41 2.25700e+03 4.28066e+01 9.06112e-01 1.00000e-09 1.00000e-09 1.0000 + 42 2.25674e+03 5.68962e+00 3.25002e-01 1.00000e-09 1.00000e-09 1.0000 + 43 2.25658e+03 1.12728e+00 1.85603e-01 1.00000e-09 1.00000e-09 1.0000 + 44 2.25647e+03 9.88789e-02 1.24444e-01 1.00000e-09 1.00000e-09 1.0000 + 45 2.25638e+03 8.92078e-02 9.40431e-02 1.00000e-09 1.00000e-09 1.0000 + 46 2.25632e+03 1.58846e-02 7.60157e-02 1.00000e-09 1.00000e-09 1.0000 + 47 2.25627e+03 4.16625e-02 7.12359e-02 1.00000e-09 1.00000e-09 1.0000 + 48 2.25624e+03 2.87990e-02 8.59711e-02 1.00000e-09 1.00000e-09 1.0000 + 49 2.25622e+03 5.62700e-02 1.41739e-01 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 50 2.25619e+03 2.81021e-02 4.75975e-02 1.00000e-09 1.00000e-09 1.0000 + 51 2.25617e+03 1.20298e-02 6.17378e-02 1.00000e-09 1.00000e-09 1.0000 + 52 2.25615e+03 2.05734e-02 1.07931e-01 1.00000e-09 1.00000e-09 0.2500 + 53 2.25613e+03 1.06951e-02 3.33533e-02 1.00000e-09 1.00000e-09 1.0000 + 54 2.25612e+03 5.43033e-03 4.59062e-02 1.00000e-09 1.00000e-09 1.0000 + 55 2.25610e+03 8.60364e-03 8.36147e-02 1.00000e-09 1.00000e-09 0.2500 + 56 2.25609e+03 4.69192e-03 2.42915e-02 1.00000e-09 1.00000e-09 1.0000 + 57 2.25608e+03 2.52618e-03 3.49237e-02 1.00000e-09 1.00000e-09 1.0000 + 58 2.25607e+03 3.99523e-03 6.54989e-02 1.00000e-09 1.00000e-09 0.2500 + 59 2.25606e+03 2.28821e-03 1.82008e-02 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 60 2.25606e+03 1.23121e-03 2.70150e-02 1.00000e-09 1.00000e-09 1.0000 + 61 2.25605e+03 2.04264e-03 5.17138e-02 1.00000e-09 1.00000e-09 0.2500 + 62 2.25604e+03 1.22165e-03 1.39435e-02 1.00000e-09 1.00000e-09 1.0000 + 63 2.25604e+03 6.45628e-04 2.11640e-02 1.00000e-09 1.00000e-09 1.0000 + 64 2.25603e+03 1.14962e-03 4.10693e-02 1.00000e-09 1.00000e-09 0.2500 + 65 2.25603e+03 7.09128e-04 1.08719e-02 1.00000e-09 1.00000e-09 1.0000 + 66 2.25602e+03 3.74895e-04 1.67432e-02 1.00000e-09 1.00000e-09 1.0000 + 67 2.25602e+03 7.09796e-04 3.27608e-02 1.00000e-09 1.00000e-09 0.2500 + 68 2.25601e+03 4.44374e-04 8.59549e-03 1.00000e-09 1.00000e-09 1.0000 + 69 2.25601e+03 2.44137e-04 1.33462e-02 1.00000e-09 1.00000e-09 1.0000 +iter cost theta gamma muV muLM alpha + 70 2.25601e+03 4.74894e-04 2.62220e-02 1.00000e-09 1.00000e-09 0.2500 + 71 2.25600e+03 2.97395e-04 6.86948e-03 1.00000e-09 1.00000e-09 1.0000 + 72 2.25600e+03 1.75791e-04 1.07003e-02 1.00000e-09 1.00000e-09 1.0000 + 73 2.25600e+03 3.37961e-04 2.10429e-02 1.00000e-09 1.00000e-09 0.2500 + 74 2.25599e+03 2.09721e-04 5.53573e-03 1.00000e-09 1.00000e-09 1.0000 + 75 2.25599e+03 1.35694e-04 8.61728e-03 1.00000e-09 1.00000e-09 1.0000 + 76 2.25599e+03 2.51041e-04 1.69209e-02 1.00000e-09 1.00000e-09 0.2500 + 77 2.25599e+03 1.53794e-04 4.48917e-03 1.00000e-09 1.00000e-09 1.0000 + 78 2.25599e+03 1.08959e-04 6.96372e-03 1.00000e-09 1.00000e-09 1.0000 + 79 2.25598e+03 1.91745e-04 1.36280e-02 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 80 2.25598e+03 1.16014e-04 3.65791e-03 1.00000e-09 1.00000e-09 1.0000 + 81 2.25598e+03 8.91583e-05 5.64253e-03 1.00000e-09 1.00000e-09 1.0000 diff --git a/examples/log/talos_arm.log b/examples/log/talos_arm.log new file mode 100644 index 0000000000000000000000000000000000000000..95ed434f44fc50aa703a4e1552663acc959dc39c --- /dev/null +++ b/examples/log/talos_arm.log @@ -0,0 +1,30 @@ +iter cost theta gamma muV muLM alpha + 0 3.33784e-01 2.79313e-08 2.46733e-01 1.00000e-09 1.00000e-09 1.0000 + 1 2.76830e-01 4.07640e-08 2.51704e-01 1.00000e-09 1.00000e-09 0.2500 + 2 2.41482e-01 2.71532e-08 1.67983e-01 1.00000e-09 1.00000e-09 0.2500 + 3 2.14120e-01 1.92516e-08 1.23269e-01 1.00000e-09 1.00000e-09 0.2500 + 4 1.92160e-01 1.36544e-08 9.38145e-02 1.00000e-09 1.00000e-09 0.2500 + 5 1.73479e-01 1.04796e-08 7.84493e-02 1.00000e-09 1.00000e-09 0.2500 + 6 1.56354e-01 8.92818e-09 7.20415e-02 1.00000e-09 1.00000e-09 0.2500 + 7 1.41779e-01 7.25090e-09 6.08715e-02 1.00000e-09 1.00000e-09 0.2500 + 8 1.32226e-01 4.76111e-09 4.04640e-02 1.00000e-09 1.00000e-09 0.2500 + 9 1.26362e-01 2.93583e-09 2.49384e-02 1.00000e-09 1.00000e-09 0.2500 +iter cost theta gamma muV muLM alpha + 10 1.22590e-01 1.88209e-09 1.59846e-02 1.00000e-09 1.00000e-09 0.2500 + 11 1.19132e-01 1.28816e-09 1.10026e-02 1.00000e-09 1.00000e-09 1.0000 + 12 1.14275e-01 2.42405e-09 1.79049e-02 1.00000e-09 1.00000e-09 1.0000 + 13 1.11334e-01 5.15956e-09 4.73770e-02 1.00000e-09 1.00000e-09 0.2500 + 14 9.90761e-02 6.13525e-09 4.42008e-02 1.00000e-09 1.00000e-09 0.2500 + 15 9.39628e-02 3.72680e-09 3.08742e-02 1.00000e-09 1.00000e-09 0.2500 + 16 8.91847e-02 3.36729e-09 2.71581e-02 1.00000e-09 1.00000e-09 0.2500 + 17 8.39980e-02 2.89527e-09 2.51096e-02 1.00000e-09 1.00000e-09 0.2500 + 18 8.09470e-02 1.67397e-09 1.47015e-02 1.00000e-09 1.00000e-09 0.2500 + 19 7.98693e-02 6.09845e-10 5.32391e-03 1.00000e-09 1.00000e-09 0.2500 + +The reached pose by the wrist is + R = + 0.999782 0.00102056 0.0208659 +-0.000942107 0.999992 -0.00376952 + -0.0208696 0.00374904 0.999775 + p = 0.00244635 0.0243952 0.381054 +