about the constraint functions

[MrBrood]

Hi, first of all I want to thank you for this great code. Though there are some code I don't understand. For example, the constraint function in your TensionSmoother, why the lower bound and upper bound is the same value?

[LiJiangnanBit]

the constraint is actually:
x_i = x_ref_i + d_i * cos(theta_ref);
-->
x_i - cos(theta_ref) * di = x_ref_i

the lower and upper bounds being the same means that it's an equality constraint.

[MrBrood]

I have another question when understanding your code, do you assum that the value theta_ref keeps unchanged while optimization? in the constraint methioned above, the theta value seems to be pre-calculated and will not be updated while optimization

[LiJiangnanBit]

theta_ref is the angle from the unsmoothed reference line, so it's just a constant value instead of a variable to be optimized.