Alex Cunningham
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107c6846fb
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Added basic inequality constraint handling to NonlinearConstraint. Demo still in progress, but now constraints are explicitly handled as either equality or inequality constraints, with an active() function to determine if it is necessary to use the constraint.
Created testOrdering for new subtract() function to remove parts of an ordering.
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2009-11-28 18:35:36 +00:00 |
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Alex Cunningham
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e3e79e3888
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Added lagrange access function to the SQPOptimizer
Added a test testSQP to try changing the initial Lagrange multiplier values to find a way around the stability problem, but there is no effect.
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2009-11-24 14:44:46 +00:00 |
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Alex Cunningham
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fec280db8e
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Added a nonlinear constraint version of the stereo SQP example, but the test when the initial configuration is incorrect is not stable and the points continue moving away indefinitely.
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2009-11-24 06:39:27 +00:00 |
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Alex Cunningham
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31856ce598
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SQPOptimizer can now do its own initialization of the Lagrange multipliers.
Cleaned up NonlinearConstraint
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2009-11-23 22:10:52 +00:00 |
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Alex Cunningham
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a5515d9d57
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SQPoptimizer can now perform optimization, and has a test using the linear map-warping example.
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2009-11-23 21:25:31 +00:00 |
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Alex Cunningham
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0b333630e7
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Added an SQPOptimizer class with accompanying test - currently doesn't do much
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2009-11-23 19:57:35 +00:00 |