when i run python python/gps/gps_main.py box2d_pointmass_pi2_example, the following error occurs.
('__file__:', 'python/gps/gps_main.py')
('add path:', 'python')
pygame 1.9.6
Hello from the pygame community. https://www.pygame.org/contribute.html
Initializing pygame framework...
DEBUG:tm._add: /joy, sensor_msgs/Joy, sub
DEBUG:tm._add: /camera/rgb/image_color, sensor_msgs/Image, sub
DEBUG:Unrecognized keyboard input: escape
DEBUG:Unrecognized keyboard input: escape
/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/scipy/optimize/_minimize.py:298: RuntimeWarning: Method BFGS cannot handle constraints nor bounds.
RuntimeWarning)
python/gps/algorithm/traj_opt/traj_opt_pi2.py:223: RuntimeWarning: overflow encountered in exp
np.sum(np.exp(exponent / eta))))
/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/scipy/optimize/optimize.py:597: RuntimeWarning: invalid value encountered in subtract
grad[k] = (f(*((xk+d,)+args)) - f0) / d[k]
/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/scipy/optimize/linesearch.py:414: RuntimeWarning: invalid value encountered in double_scalars
radical = B*B-3*A*C
[[ nan nan]
[ nan nan]]
Traceback (most recent call last):
File "python/gps/gps_main.py", line 108, in run
self._take_iteration(itr, traj_sample_lists) # 迭代
File "python/gps/gps_main.py", line 253, in _take_iteration
self.algorithm.iteration(sample_lists)
File "python/gps/algorithm/algorithm_traj_opt_pi2.py", line 33, in iteration
self._update_trajectories()
File "python/gps/algorithm/algorithm.py", line 128, in _update_trajectories
self.traj_opt.update(cond, self)
File "python/gps/algorithm/traj_opt/traj_opt_pi2.py", line 95, in update
fixed_eta, use_fixed_eta
File "python/gps/algorithm/traj_opt/traj_opt_pi2.py", line 177, in update_pi2
mult = np.trace(np.dot(sp.linalg.inv(cov_old[t]),
File "/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/scipy/linalg/basic.py", line 308, in inv
a1 = np.asarray_chkfinite(a)
File "/home/vector/PythonVirtualEnvs/gps/local/lib/python2.7/site-packages/numpy/lib/function_base.py", line 1216, in asarray_chkfinite
"array must not contain infs or NaNs")
ValueError: array must not contain infs or NaNsAccording to the err info, when we run sp.linalg.inv() in traj_opt_pi2.py, the matrix cov_old[t] contains infs or NaNs. I don't find a suitable solution after google. Did you encounter this err? If you did, how to address this err? Thanks.
when i run python python/gps/gps_main.py box2d_pointmass_pi2_example, the following error occurs.
According to the err info, when we run sp.linalg.inv() in traj_opt_pi2.py, the matrix cov_old[t] contains infs or NaNs. I don't find a suitable solution after google. Did you encounter this err? If you did, how to address this err? Thanks.