OnlineTrajectoryOptimization

Central_Computation_Nodemodel <h2>DEDirector</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>startTime</td><td>&nbsp;</td><td>null</td></tr><tr><td>stopTime</td><td>&nbsp;</td><td>null</td></tr><tr><td>stopWhenQueueIsEmpty</td><td>true</td><td>true</td></tr><tr><td>synchronizeToRealTime</td><td>false</td><td>false</td></tr><tr><td>enforceMicrostepSemantics</td><td>false</td><td>false</td></tr></table> <h2>DecompositeRobotPositions</h2>Has no parameters. <h2>DecompositeDistanceMeasurement</h2>Has no parameters. <h2>ElementsToArray</h2>Has no parameters. <h2>DisplayResults</h2>Has no parameters. <h2>DiscreteClock</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>stopTime</td><td>Infinity</td><td>Infinity</td></tr><tr><td>stopTimeIsLocal</td><td>false</td><td>false</td></tr><tr><td>period</td><td>samplePeriod</td><td>0.1</td></tr><tr><td>offsets</td><td>{0.05}</td><td>{0.05}</td></tr><tr><td>values</td><td>{1}</td><td>{1}</td></tr></table> <h2>SequenceToArray5</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>arrayLength</td><td>4</td><td>4</td></tr></table> <h2>SequenceToArray4</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>arrayLength</td><td>2</td><td>2</td></tr></table> <h2>ArrayToSequence</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>arrayLength</td><td>8</td><td>8</td></tr><tr><td>enforceArrayLength</td><td>true</td><td>true</td></tr></table> <h2>IterateOverArray</h2>Has no parameters. <h2>MatrixToArray</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>columnMajor</td><td>false</td><td>false</td></tr></table> <h2>SequenceToArray3</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>arrayLength</td><td>Nparticles</td><td>50</td></tr></table> <h2>CompositeOptimizer</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>mode</td><td>MAX</td><td>MAX</td></tr><tr><td>maxEvaluations</td><td>1000</td><td>1000</td></tr><tr><td>dimensionOfOptimizationSpace</td><td>8</td><td>8</td></tr><tr><td>numberOfConstraints</td><td>12</td><td>12</td></tr><tr><td>timeHorizon</td><td>1</td><td>1</td></tr></table> <h2>ParticleFilter</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>stateVariableNames</td><td>{&quot;x&quot;,&quot;y&quot;}</td><td>{&quot;x&quot;, &quot;y&quot;}</td></tr><tr><td>bootstrap</td><td>true</td><td>true</td></tr><tr><td>lowVarianceSampler</td><td>true</td><td>true</td></tr><tr><td>particleCount</td><td>2000</td><td>2000</td></tr><tr><td>outputParticleCount</td><td>Nparticles</td><td>50</td></tr><tr><td>processNoise</td><td>multivariateGaussian({0.0,0.0},intruderCov)</td><td>{-2.1659148377722, -1.0110774019558}</td></tr><tr><td>prior</td><td>{random()*200-100,random()*200-100}</td><td>{3.895546232476, -40.476356165925}</td></tr><tr><td>measurementCovariance</td><td>[5.0]</td><td>[5.0]</td></tr><tr><td>x</td><td>41.89244733901298</td><td>41.892447339013</td></tr><tr><td>y</td><td>48.470218034507326</td><td>48.4702180345073</td></tr><tr><td>x_update</td><td>x</td><td>41.892447339013</td></tr><tr><td>y_update</td><td>y</td><td>48.4702180345073</td></tr><tr><td>z1</td><td>sqrt((r1(0)-x)^2+(r1(1)-y)^2)</td><td>52.2644356079234</td></tr><tr><td>z2</td><td>sqrt((r2(0)-x)^2+(r2(1)-y)^2)</td><td>44.0295959838072</td></tr><tr><td>r1</td><td>{91.6237342697504, 40.5513283970827}</td><td>{94.1474406315085, 49.4636491675117}</td></tr><tr><td>r2</td><td>{85.0715972017426, 48.9250825882336}</td><td>{85.079839950714, 57.0407747200493}</td></tr><tr><td>z1_m</td><td>57.3752309072013</td><td>57.3752309072013</td></tr><tr><td>z2_m</td><td>47.2475444104322</td><td>47.2475444104322</td></tr><tr><td>r3</td><td>{82.3939487238656, -32.0846091541256}</td><td>{73.8363543718771, -35.9632274891047}</td></tr><tr><td>r4</td><td>{75.3108712535753, -39.084233456904}</td><td>{59.7478788943592, -44.1499229115977}</td></tr><tr><td>z3</td><td>sqrt((r3(0)-x)^2+(r3(1)-y)^2)</td><td>90.2741376004946</td></tr><tr><td>z4</td><td>sqrt((r4(0)-x)^2+(r4(1)-y)^2)</td><td>94.3255370772095</td></tr><tr><td>z3_m</td><td>96.2683533429161</td><td>96.2683533429161</td></tr><tr><td>z4_m</td><td>101.3264333092071</td><td>101.3264333092071</td></tr></table> <h2>RecordDisassembler</h2>Has no parameters.