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i can not understand what does the variable "brackt" means in this project。百度翻译说brackt是支架、括号的意思，我无法理解这个变量是干什么的，还有line_search_morethuente里面的stage变量，这两个变量是什么意思，支架和舞台？

Solver error is refining, the line search became smaller than mon step.
How to figure that out

from line 1496 to line 1519, this two for loops has variable i, but in the loop body, there is no i, only j, why?
1496行到1519行这两个for循环是关于i的，但是循环体里面为什么只有j没有i？

a rounding error occurred. no line search step satisfy the sufficient decrease and curvature condition. How to fix it?

Hi, @ZhepeiWang @bigsuperZZZX
I was wondering if there is a way to add a timeout to ensure we don't run the optimization more than a few ms or it may throttle other functions/ callbacks running. I am referring to the use of LBFGS-Lite in ego-swarm-planner-v2.

I have noticed that there are instances when the FSM callback is stuck in the optimization step.

thanks

in function lbfgs_optimize, there is a parameter "loop", howerver, after this parameter is set to zero, the loop will break, so why not just break directly, what is the purpose of the parameter "loop"

Hi,
thanks for this awesome work @ZhepeiWang
I am using ego-swarm-planner-v2 which uses lbfgs.hpp, I am not sure if it's related to this repo, but your help is much appreciated.

recently, when I was trying ego-swarm-planner-v2, I observed, the drone made a path with cost = 1794351201.188. and the generated path was not good and the drone started executing the path, I am curious, what's the maximum "feasible" cost I can allow?

below I have attached the image with cost and path

thanks and regards