gtsam

Author	SHA1	Message	Date
Alex Cunningham	e3e79e3888	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.	2009-11-24 14:44:46 +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