Alex Cunningham
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e2bc13a2a6
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Renaming gradients -> jacobians
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2009-12-18 03:05:47 +00:00 |
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Alex Cunningham
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a1918056a5
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Changed NonlinearConstraints to take cost and gradient functions that do not take the list of keys. Tests have been reconstructed using boost::bind
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2009-12-18 02:39:02 +00:00 |
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Alex Cunningham
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7d0de77fc6
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Changed argument ordering for constraints
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2009-12-18 01:40:29 +00:00 |
Frank Dellaert
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9efac7b3fb
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Some re-naming and re-formatting only
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2009-12-15 05:34:49 +00:00 |
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Alex Cunningham
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d7c67532bf
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Changed format of Matrix::vector_scale() to switch arguments
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2009-12-08 21:10:38 +00:00 |
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Alex Cunningham
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e26acc0d8d
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Changed nonlinear constraints to use boost.bind to handle arbitrary function objects for evaluating cost, useful for parameterizing cost functions.
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2009-12-01 19:45:47 +00:00 |
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Alex Cunningham
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a3ce3f31c8
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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.
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2009-11-30 17:36:34 +00:00 |
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Alex Cunningham
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395e4ae3f1
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Fixed sign issue on nonlinear constraints, so that that it is not necessary to flip the sign on the delta configs before using exmap.
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2009-11-28 21:00:09 +00:00 |
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Alex Cunningham
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0ff7e3a5d9
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Changed interface on constraint g(x) and grad_g(x) functions to take a list of keys, so that all of the variables in a factor can be used as necessary. Moved g(x) into base NonlinearConstraint class and some cleanup.
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2009-11-28 19:18:02 +00:00 |
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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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f3e825767b
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NonlinearConstraints now handle inactive constraints (when the state is already in the feasible region) by returning empty factors on linearization.
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2009-11-27 18:42:01 +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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714edb57f0
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Basic implementation of a binary nonlinear constraint, with working linearization of a binary constraint.
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2009-11-20 03:50:48 +00:00 |
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Alex Cunningham
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ee4a066275
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Implemented linearization and equality for unary NonlinearConstraints. Current tests use a scalar example. Split out implementation into a separate implementation file.
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2009-11-20 03:04:49 +00:00 |