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identifyLeavingConstraint

release/4.3a0
dellaert 2014-11-27 10:49:35 +01:00
parent 9ca2ba9b66
commit 4871202664
3 changed files with 5 additions and 5 deletions
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4
gtsam_unstable/linear/QPSolver.cpp
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@ -243,7 +243,7 @@ GaussianFactorGraph QPSolver::buildDualGraph(const GaussianFactorGraph& graph,
}
//******************************************************************************
pair<int, int> QPSolver::findWorstViolatedActiveIneq(
pair<int, int> QPSolver::identifyLeavingConstraint(
const VectorValues& lambdas) const {
int worstFactorIx = -1, worstSigmaIx = -1;
// preset the maxLambda to 0.0: if lambda is <= 0.0, the constraint is either
@ -371,7 +371,7 @@ bool QPSolver::iterateInPlace(GaussianFactorGraph& workingGraph,
lambdas.print("lambdas :");
int factorIx, sigmaIx;
boost::tie(factorIx, sigmaIx) = findWorstViolatedActiveIneq(lambdas);
boost::tie(factorIx, sigmaIx) = identifyLeavingConstraint(lambdas);
if (debug)
cout << "violated active ineq - factorIx, sigmaIx: " << factorIx << " "
<< sigmaIx << endl;

2
gtsam_unstable/linear/QPSolver.h
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@ -115,7 +115,7 @@ public:
* And we want to remove the worst one with the largest lambda from the active set.
*
*/
std::pair<int, int> findWorstViolatedActiveIneq(
std::pair<int, int> identifyLeavingConstraint(
const VectorValues& lambdas) const;
/**

4
gtsam_unstable/linear/tests/testQPSolver.cpp
View File

@ -77,14 +77,14 @@ TEST(QPSolver, constraintsAux) {
VectorValues lambdas;
lambdas.insert(constraintIx[0], (Vector(4) << -0.5, 0.0, 0.3, 0.1));
int factorIx, lambdaIx;
boost::tie(factorIx, lambdaIx) = solver.findWorstViolatedActiveIneq(lambdas);
boost::tie(factorIx, lambdaIx) = solver.identifyLeavingConstraint(lambdas);
LONGS_EQUAL(1, factorIx);
LONGS_EQUAL(2, lambdaIx);
VectorValues lambdas2;
lambdas2.insert(constraintIx[0], (Vector(4) << -0.5, 0.0, -0.3, -0.1));
int factorIx2, lambdaIx2;
boost::tie(factorIx2, lambdaIx2) = solver.findWorstViolatedActiveIneq(
boost::tie(factorIx2, lambdaIx2) = solver.identifyLeavingConstraint(
lambdas2);
LONGS_EQUAL(-1, factorIx2);
LONGS_EQUAL(-1, lambdaIx2);