Comments (1)
farbod-farshidian
commented on June 3, 2024
None of the current solvers handles inequality constraints directly. The main reason is computational overhead. However, since the realse 11.0, the DDP-based solvers handle the inequality constraints through an Augmented Lagrangian (AL) approach, which works considerably better than our previous penalty-based method. The technical detail of this AL approach can be found in this paper.
For an example, refer to ocs2_cartpole/src/CartPoleInterface.cpp and ocs2_cartpole/test/testCartpole.cpp.
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