Richard Roberts
|
19a3e228d7
|
Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes.
|
2010-01-08 00:40:17 +00:00 |
Alex Cunningham
|
a3ce3f31c8
|
Cleanup with NonlinearConstraints to make the active() function do thresholding for inequality constraints, rather than constraint function itself.
testSQP now has all tests active and passing.
Added greaterThanOrEqual() for vector comparison.
|
2009-11-30 17:36:34 +00:00 |
|
Alex Cunningham
|
1799f59388
|
Added a function for the SQPOptimizer that will iterate until convergence. At the moment, the convergence conditions are quite simple (error below threshold or too many iterations). The system does, however, strictly limit the number of iterations.
|
2009-11-28 22:49:14 +00:00 |
|
Alex Cunningham
|
1525253123
|
Inequality Constraints now work in a simple obstacle-avoidance demo in testSQPOptimizer. It should be noted that convergence conditions are still not implemented.
|
2009-11-28 21:44:07 +00:00 |
|
Alex Cunningham
|
395e4ae3f1
|
Fixed sign issue on nonlinear constraints, so that that it is not necessary to flip the sign on the delta configs before using exmap.
|
2009-11-28 21:00:09 +00:00 |
|
Alex Cunningham
|
107c6846fb
|
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.
|
2009-11-28 18:35:36 +00:00 |
|
Alex Cunningham
|
cf6474c99b
|
Added a graph implementation for multi-robot control systems. Currently can only really constrain the ends of a trajectory.
Made a number of fixes and updates to the ControlConfig as well.
|
2009-11-27 17:59:03 +00:00 |
|
Alex Cunningham
|
fec280db8e
|
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.
|
2009-11-24 06:39:27 +00:00 |
|
Alex Cunningham
|
31856ce598
|
SQPOptimizer can now do its own initialization of the Lagrange multipliers.
Cleaned up NonlinearConstraint
|
2009-11-23 22:10:52 +00:00 |
|
Alex Cunningham
|
a5515d9d57
|
SQPoptimizer can now perform optimization, and has a test using the linear map-warping example.
|
2009-11-23 21:25:31 +00:00 |
|
Alex Cunningham
|
0b333630e7
|
Added an SQPOptimizer class with accompanying test - currently doesn't do much
|
2009-11-23 19:57:35 +00:00 |