ESP8266 Community Forum

- Thu Feb 04, 2021 4:03 pm #90416 I have been trying to use find a Quadratic problem solver library which is compatible with Eigen library for my NodeMCU board (In my code I have to deal with a lot of matrix operations, that's why I chose Eigen)

I found the following one by jarredbarber : https://github.com/jarredbarber/eigen-QP

For some reason, I'm not being able to use the QP library in my nodemcu. Here is one very simple demonstration I've been trying to establish. But it throws away some errors, I can't figure why :

In my sketch for the NodeMCU

Code: Select all#include <Arduino.h>
#include <EEPROM.h>
#include <Wire.h>

#include <iostream>
//#include<ctime>        //srand()
#include<cstdlib>

#define _USE_MATH_DEFINES
#include <cmath>        // for using M_PI, Trig. functions (sin/cos/tan)
using namespace std;

//#include <ArduinoSTL.h>
#include "Eigen313.h"
using namespace Eigen;

#include "eigen-qp.hpp"
using namespace EigenQP;

//#define PI 3.1416


void setup() {
  // put your setup code here, to run once:
  Serial.println("Lets start!!");
int N=4;
float gamma =10000;
float safety_radius=0.1200;
  Eigen::Matrix<float,Dynamic,Dynamic> Q(2*N,2*N); Q.setIdentity();
  cout<<Q<<endl;
  Eigen::Matrix<float,Dynamic,1> c(2*N,1);
      c<<0,
         0,
    0.0086,
    0.0847,
   -0.1499,
    0.0687,
    0.0083,
   -0.0867;

    Eigen::Matrix<float,Dynamic,Dynamic> A(6,2*N);
  A<<0.0655,0.6483,-0.0655,-0.6483,0,0,0,0,
    -0.5839,0.6251,0,0,0.5839,-0.6251,0,0,
    -0.5587,-0.0275,0,0,0,0,0.5587,0.0275,
     0,0,-0.6494,-0.0232,0.6494,0.0232,0,0,
     0,0,-0.6242,-0.6758,0,0,0.6242,0.6758,
     0,0,0,0,0.0252,-0.6526,-0.0252,0.6526;
std::cout<<"A:\n"<<A<<endl;
    Eigen::Matrix<float,Dynamic,1> b(6,1);
b <<7.7197,
   47.8600,
    2.6007,
    7.5770,
   76.6646,
    7.8461;
   
    A=-A;
    b=-b;
Eigen::Matrix<float,Dynamic,1> x(2*N,1);
yield();
delay(2000);
        //boost::timer::auto_cpu_timer t;
        //for (int ii=0; ii < 8; ii++)
        //QPIneqSolver::solve(&H,&f,&A,&b,&x);
EigenQP::quadprog<float,Dynamic,Dynamic>(Q,c,A,b,x);
std::cout<<x<<endl;

}

void loop() {
  // put your main code here, to run repeatedly:
yield();

}


It compiles fine, but in the serial monitor, these show up :

Code: Select all ets Jan  8 2013,rst cause:2, boot mode:(3,6)

load 0x4010f000, len 3584, room 16
tail 0
chksum 0xb0
csum 0xb0
v2843a5ac
~ld


I tried to run the same code in codeblocks software in my computer, it works fine though.


PS: This is the first time I've ever posted any topic in this forum, please inform me if I've violated any guideline for the post..
Thanks in advance.

- Mon Feb 08, 2021 4:57 am #90460

Code: Select all ets Jan  8 2013,rst cause:2, boot mode:(3,6)

load 0x4010f000, len 3584, room 16
tail 0
chksum 0xb0
csum 0xb0
v2843a5ac
~ld


This is the ESP8266 boot message at 74880 Baud; you can ignore this if your code is working (I'm not saying working correctly, but when there are no checksum errors, exceptions or watchdog resets).

void setup() {
// put your setup code here, to run once:
Serial.println("Lets start!!");

After boot all GPIO's are set to their default values and function and you have to manually set them in setup().
You forgot to enable and set serial (when not set GPIO1 and GPIO3 are just general purpose I/O's) using:

Code: Select allSerial.begin(115200); // You can chose any baudrate you want

After that you can print to Serial.

Assumption is the mother of all f*ckups. At least: that's what I'm assuming.