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Update generateExcitationTrajectory.m 

Solving a bug related to MaxFunctionEvaluations in the trajectory generation routine. Thank you @jimi1970 for spotting this.
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Quentin Leboutet 2023-09-01 16:31:37 +02:00 committed by GitHub
parent 971242479f
commit ff47a050e6
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1 changed files with 1 additions and 2 deletions
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Benchmark/Robot_Data_Generation/Trajectory_Data_Generation/generateExcitationTrajectory.m
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@ -74,8 +74,7 @@ if generateNewTrajectoryParameters == true
while iteration<benchmarkSettings.max_traj_it && fval_final > 5 while iteration<benchmarkSettings.max_traj_it && fval_final > 5
if strcmp(alg,'fmin') % 'interior-point' (default), 'trust-region-reflective', sqp', 'sqp-legacy', 'active-set'. if strcmp(alg,'fmin') % 'interior-point' (default), 'trust-region-reflective', sqp', 'sqp-legacy', 'active-set'.
%options = optimoptions('fmincon','Algorithm' ,'interior-point', 'Display','iter', 'MaxFunctionEvaluations', 10000*robot.nbDOF, 'UseParallel', true); options = optimoptions('fmincon','Algorithm' ,'interior-point', 'Display','iter', 'MaxFunctionEvaluations', 10000, 'UseParallel', true);
options = optimoptions('fmincon','Algorithm' ,'interior-point', 'Display','iter', 'MaxFunctionEvaluations', 10, 'UseParallel', true);
[trajectoryParameters_optim,fval,exitFlag] = fmincon(fun, 0.1*(-2 + 4*rand(nbVars, 1)), [], [], Aeq, beq, [], [], nonlcon, options); [trajectoryParameters_optim,fval,exitFlag] = fmincon(fun, 0.1*(-2 + 4*rand(nbVars, 1)), [], [], Aeq, beq, [], [], nonlcon, options);
elseif strcmp(alg,'ga') elseif strcmp(alg,'ga')
population = 240; population = 240;