Changed argument ordering for constraints
Alex Cunningham
parent
7dfc67860c
commit
7d0de77fc6
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@ -48,9 +48,9 @@ bool NonlinearConstraint<Config>::active(const Config& config) const {
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template <class Config>
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NonlinearConstraint1<Config>::NonlinearConstraint1(
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Vector (*g)(const Config& config, const std::list<std::string>& keys),
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const std::string& key,
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Matrix (*gradG)(const Config& config, const std::list<std::string>& keys),
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Vector (*g)(const Config& config, const std::list<std::string>& keys),
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size_t dim_constraint,
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const std::string& lagrange_key,
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bool isEquality) :
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@ -67,9 +67,9 @@ NonlinearConstraint1<Config>::NonlinearConstraint1(
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/* ************************************************************************* */
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template <class Config>
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NonlinearConstraint1<Config>::NonlinearConstraint1(
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boost::function<Vector(const Config& config, const std::list<std::string>& keys)> g,
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const std::string& key,
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boost::function<Matrix(const Config& config, const std::list<std::string>& keys)> gradG,
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boost::function<Vector(const Config& config, const std::list<std::string>& keys)> g,
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size_t dim_constraint,
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const std::string& lagrange_key,
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bool isEquality) :
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@ -138,11 +138,11 @@ NonlinearConstraint1<Config>::linearize(const Config& config, const VectorConfig
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/* ************************************************************************* */
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template <class Config>
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NonlinearConstraint2<Config>::NonlinearConstraint2(
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Vector (*g)(const Config& config, const std::list<std::string>& keys),
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const std::string& key1,
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Matrix (*gradG1)(const Config& config, const std::list<std::string>& keys),
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const std::string& key2,
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Matrix (*gradG2)(const Config& config, const std::list<std::string>& keys),
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Vector (*g)(const Config& config, const std::list<std::string>& keys),
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size_t dim_constraint,
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const std::string& lagrange_key,
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bool isEquality) :
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@ -161,11 +161,11 @@ NonlinearConstraint2<Config>::NonlinearConstraint2(
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/* ************************************************************************* */
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template <class Config>
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NonlinearConstraint2<Config>::NonlinearConstraint2(
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boost::function<Vector(const Config& config, const std::list<std::string>& keys)> g,
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const std::string& key1,
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boost::function<Matrix(const Config& config, const std::list<std::string>& keys)> gradG1,
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const std::string& key2,
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boost::function<Matrix(const Config& config, const std::list<std::string>& keys)> gradG2,
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boost::function<Vector(const Config& config, const std::list<std::string>& keys)> g,
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size_t dim_constraint,
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const std::string& lagrange_key,
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bool isEquality) :
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@ -148,9 +148,9 @@ public:
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* @param isEquality is true if the constraint is an equality constraint
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*/
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NonlinearConstraint1(
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Vector (*g)(const Config& config, const std::list<std::string>& keys),
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const std::string& key,
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Matrix (*gradG)(const Config& config, const std::list<std::string>& keys),
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Vector (*g)(const Config& config, const std::list<std::string>& keys),
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size_t dim_constraint,
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const std::string& lagrange_key="",
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bool isEquality=true);
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@ -165,9 +165,9 @@ public:
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* @param isEquality is true if the constraint is an equality constraint
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*/
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NonlinearConstraint1(
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boost::function<Vector(const Config& config, const std::list<std::string>& keys)> g,
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const std::string& key,
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boost::function<Matrix(const Config& config, const std::list<std::string>& keys)> gradG,
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boost::function<Vector(const Config& config, const std::list<std::string>& keys)> g,
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size_t dim_constraint,
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const std::string& lagrange_key="",
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bool isEquality=true);
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@ -224,11 +224,11 @@ public:
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* @param isEquality is true if the constraint is an equality constraint
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*/
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NonlinearConstraint2(
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Vector (*g)(const Config& config, const std::list<std::string>& keys),
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const std::string& key1,
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Matrix (*gradG1)(const Config& config, const std::list<std::string>& keys),
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const std::string& key2,
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Matrix (*gradG2)(const Config& config, const std::list<std::string>& keys),
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Vector (*g)(const Config& config, const std::list<std::string>& keys),
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size_t dim_constraint,
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const std::string& lagrange_key="",
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bool isEquality=true);
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@ -244,11 +244,11 @@ public:
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* @param isEquality is true if the constraint is an equality constraint
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*/
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NonlinearConstraint2(
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boost::function<Vector(const Config& config, const std::list<std::string>& keys)> g,
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const std::string& key1,
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boost::function<Matrix(const Config& config, const std::list<std::string>& keys)> gradG1,
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const std::string& key2,
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boost::function<Matrix(const Config& config, const std::list<std::string>& keys)> gradG2,
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boost::function<Vector(const Config& config, const std::list<std::string>& keys)> g,
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size_t dim_constraint,
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const std::string& lagrange_key="",
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bool isEquality=true);
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@ -38,7 +38,7 @@ TEST( NonlinearConstraint1, unary_scalar_construction ) {
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// the lagrange multipliers will be expected on L_x1
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// and there is only one multiplier
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size_t p = 1;
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NonlinearConstraint1<VectorConfig> c1("x", *test1::G, *test1::g, p, "L_x1");
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NonlinearConstraint1<VectorConfig> c1(*test1::g, "x", *test1::G, p, "L_x1");
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// get a configuration to use for finding the error
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VectorConfig config;
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@ -53,7 +53,7 @@ TEST( NonlinearConstraint1, unary_scalar_construction ) {
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/* ************************************************************************* */
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TEST( NonlinearConstraint1, unary_scalar_linearize ) {
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size_t p = 1;
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NonlinearConstraint1<VectorConfig> c1("x", *test1::G, *test1::g, p, "L_x1");
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NonlinearConstraint1<VectorConfig> c1(*test1::g, "x", *test1::G, p, "L_x1");
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// get a configuration to use for linearization
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VectorConfig realconfig;
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@ -77,10 +77,10 @@ TEST( NonlinearConstraint1, unary_scalar_linearize ) {
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/* ************************************************************************* */
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TEST( NonlinearConstraint1, unary_scalar_equal ) {
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NonlinearConstraint1<VectorConfig>
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c1("x", *test1::G, *test1::g, 1, "L_x1", true),
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c2("x", *test1::G, *test1::g, 1, "L_x1"),
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c3("x", *test1::G, *test1::g, 2, "L_x1"),
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c4("y", *test1::G, *test1::g, 1, "L_x1");
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c1(*test1::g, "x", *test1::G, 1, "L_x1", true),
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c2(*test1::g, "x", *test1::G, 1, "L_x1"),
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c3(*test1::g, "x", *test1::G, 2, "L_x1"),
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c4(*test1::g, "y", *test1::G, 1, "L_x1");
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CHECK(assert_equal(c1, c2));
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CHECK(assert_equal(c2, c1));
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@ -121,9 +121,10 @@ TEST( NonlinearConstraint2, binary_scalar_construction ) {
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// and there is only one multiplier
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size_t p = 1;
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NonlinearConstraint2<VectorConfig> c1(
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*test2::g,
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"x", *test2::G1,
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"y", *test2::G2,
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*test2::g, p, "L_xy");
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p, "L_xy");
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// get a configuration to use for finding the error
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VectorConfig config;
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@ -141,9 +142,10 @@ TEST( NonlinearConstraint2, binary_scalar_linearize ) {
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// create a constraint
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size_t p = 1;
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NonlinearConstraint2<VectorConfig> c1(
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*test2::g,
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"x", *test2::G1,
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"y", *test2::G2,
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*test2::g, p, "L_xy");
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p, "L_xy");
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// get a configuration to use for finding the error
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VectorConfig realconfig;
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@ -172,10 +174,10 @@ TEST( NonlinearConstraint2, binary_scalar_linearize ) {
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/* ************************************************************************* */
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TEST( NonlinearConstraint2, binary_scalar_equal ) {
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NonlinearConstraint2<VectorConfig>
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c1("x", *test2::G1, "y", *test2::G2,*test2::g, 1, "L_xy"),
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c2("x", *test2::G1, "y", *test2::G2,*test2::g, 1, "L_xy"),
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c3("y", *test2::G1, "x", *test2::G2,*test2::g, 1, "L_xy"),
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c4("x", *test2::G1, "z", *test2::G2,*test2::g, 3, "L_xy");
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c1(*test2::g, "x", *test2::G1, "y", *test2::G2, 1, "L_xy"),
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c2(*test2::g, "x", *test2::G1, "y", *test2::G2, 1, "L_xy"),
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c3(*test2::g, "y", *test2::G1, "x", *test2::G2, 1, "L_xy"),
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c4(*test2::g, "x", *test2::G1, "z", *test2::G2, 3, "L_xy");
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CHECK(assert_equal(c1, c2));
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CHECK(assert_equal(c2, c1));
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@ -206,8 +208,9 @@ namespace inequality1 {
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/* ************************************************************************* */
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TEST( NonlinearConstraint1, unary_inequality ) {
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size_t p = 1;
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NonlinearConstraint1<VectorConfig> c1("x", *inequality1::G,
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*inequality1::g, p, "L_x1",
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NonlinearConstraint1<VectorConfig> c1(*inequality1::g,
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"x", *inequality1::G,
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p, "L_x1",
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false); // inequality constraint
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// get configurations to use for evaluation
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@ -225,8 +228,9 @@ TEST( NonlinearConstraint1, unary_inequality ) {
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/* ************************************************************************* */
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TEST( NonlinearConstraint1, unary_inequality_linearize ) {
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size_t p = 1;
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NonlinearConstraint1<VectorConfig> c1("x", *inequality1::G,
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*inequality1::g, p, "L_x",
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NonlinearConstraint1<VectorConfig> c1(*inequality1::g,
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"x", *inequality1::G,
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p, "L_x",
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false); // inequality constraint
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// get configurations to use for linearization
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@ -283,9 +287,9 @@ TEST( NonlinearConstraint1, unary_binding ) {
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size_t p = 1;
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double coeff = 2;
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double radius = 5;
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NonlinearConstraint1<VectorConfig> c1("x",
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boost::bind(binding1::G, coeff, _1, _2),
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NonlinearConstraint1<VectorConfig> c1(
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boost::bind(binding1::g, radius, _1, _2),
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"x", boost::bind(binding1::G, coeff, _1, _2),
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p, "L_x1",
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false); // inequality constraint
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@ -335,9 +339,10 @@ TEST( NonlinearConstraint2, binary_binding ) {
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double b = 1.0;
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double r = 5.0;
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NonlinearConstraint2<VectorConfig> c1(
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boost::bind(binding2::g, r, _1, _2),
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"x", boost::bind(binding2::G1, a, _1, _2),
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"y", boost::bind(binding2::G2, b, _1, _2),
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boost::bind(binding2::g, r, _1, _2), p, "L_xy");
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p, "L_xy");
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// get a configuration to use for finding the error
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VectorConfig config;
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@ -367,8 +367,9 @@ TEST (SQP, two_pose ) {
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// constant constraint on x1
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boost::shared_ptr<NonlinearConstraint1<VectorConfig> > c1(
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new NonlinearConstraint1<VectorConfig>(
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*sqp_test2::g,
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"x1", *sqp_test2::G,
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*sqp_test2::g, 2, "L_x1"));
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2, "L_x1"));
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// measurement from x1 to l1
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Vector z1 = Vector_(2, 0.0, 5.0);
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@ -383,9 +384,10 @@ TEST (SQP, two_pose ) {
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// equality constraint between l1 and l2
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boost::shared_ptr<NonlinearConstraint2<VectorConfig> > c2(
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new NonlinearConstraint2<VectorConfig>(
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*sqp_test1::g,
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"l1", *sqp_test1::G1,
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"l2", *sqp_test1::G2,
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*sqp_test1::g, 2, "L_l1l2"));
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2, "L_l1l2"));
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// construct the graph
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NLGraph graph;
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@ -675,9 +677,10 @@ VSLAMGraph stereoExampleGraph() {
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// as the previous examples
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boost::shared_ptr<NonlinearConstraint2<VSLAMConfig> > c2(
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new NonlinearConstraint2<VSLAMConfig>(
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*sqp_stereo::g,
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"l1", *sqp_stereo::G1,
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"l2", *sqp_stereo::G2,
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*sqp_stereo::g, 3, "L_l1l2"));
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3, "L_l1l2"));
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graph.push_back(c2);
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return graph;
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@ -94,8 +94,9 @@ NLGraph linearMapWarpGraph() {
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// constant constraint on x1
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boost::shared_ptr<NonlinearConstraint1<VectorConfig> > c1(
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new NonlinearConstraint1<VectorConfig>(
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*sqp_LinearMapWarp1::g_func,
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"x1", *sqp_LinearMapWarp1::grad_g,
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*sqp_LinearMapWarp1::g_func, 2, "L_x1"));
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2, "L_x1"));
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// measurement from x1 to l1
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Vector z1 = Vector_(2, 0.0, 5.0);
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@ -110,9 +111,10 @@ NLGraph linearMapWarpGraph() {
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// equality constraint between l1 and l2
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boost::shared_ptr<NonlinearConstraint2<VectorConfig> > c2(
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new NonlinearConstraint2<VectorConfig>(
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*sqp_LinearMapWarp2::g_func,
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"l1", *sqp_LinearMapWarp2::grad_g1,
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"l2", *sqp_LinearMapWarp2::grad_g2,
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*sqp_LinearMapWarp2::g_func, 2, "L_l1l2"));
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2, "L_l1l2"));
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// construct the graph
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NLGraph graph;
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@ -270,9 +272,10 @@ pair<NLGraph, VectorConfig> obstacleAvoidGraph() {
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// create a binary inequality constraint that forces the middle point away from
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// the obstacle
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shared_NLC2 c1(new NLC2("x2", *sqp_avoid1::grad_g1,
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shared_NLC2 c1(new NLC2(*sqp_avoid1::g_func,
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"x2", *sqp_avoid1::grad_g1,
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"obs", *sqp_avoid1::grad_g2,
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*sqp_avoid1::g_func, 1, "L_x2obs", false));
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1, "L_x2obs", false));
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// construct the graph
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NLGraph graph;
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@ -400,9 +403,10 @@ pair<NLGraph, VectorConfig> obstacleAvoidGraphGeneral() {
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// create a binary inequality constraint that forces the middle point away from
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// the obstacle
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shared_NLC2 c1(new NLC2("x2", boost::bind(sqp_avoid2::grad_g1, _1, _2),
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shared_NLC2 c1(new NLC2(boost::bind(sqp_avoid2::g_func, radius, _1, _2),
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"x2", boost::bind(sqp_avoid2::grad_g1, _1, _2),
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"obs", boost::bind(sqp_avoid2::grad_g2, _1, _2),
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boost::bind(sqp_avoid2::g_func, radius, _1, _2), 1, "L_x2obs", false));
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1, "L_x2obs", false));
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// construct the graph
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NLGraph graph;
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