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feature/LCNLP
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Author Commit Message Date Builds
250+ commits behind develop.
krunal chande
Enabled all tests
krunal chande
Generally, LP solver should always return 0 initial values for our application. Check to make sure that in case if it doesn't print out the values it came up with
krunal chande
Simple test for checking gyro bias estimation.
krunal chande
Added test to test iterative framework. DOES NOT WORK YET.
krunal chande
Added comments
krunal chande
Added warmStart flag.
krunal chande
updated with current constructor whch needs number of iterations
krunal chande
disabled test
krunal chande
Merge commit 'd3c8d348c55731e83bd82d1cceb9e3c0aca6e92f' into feature/LCNLP-2
krunal chande
can pass debug flag as parameter.
krunal chande
Added warm start for initializing active set.
krunal chande
added debug print statements
krunal chande
fix return value from key to size_t.
krunal chande
box-constraints unit test passed with prior and between factors
krunal chande
fix bug in dual feasibility check. We want dual variables < 0.
krunal chande
disable printing
krunal chande
Compute the least-square values of dual variables instead of forcing them to satisfy the stationarity condition exactly. This fixes an infinite-loop bug in QPSolver when a constraint was continuously added to and removed from the active set.
krunal chande
remove support for nonlinear constraints. Refactor SQPSimple to LCNLPSolver.
krunal chande
Removed LinearEqualityManifoldFactorGraph.
krunal chande
Fixed includes
krunal chande
[unfinished] unit test with multiple betweenFactors with box constraint.
krunal chande
Simple unit test for NonlinearInequalityFactorGraph.
krunal chande
Added licensing information.
krunal chande
removed comment
krunal chande
Fixed includes.
krunal chande
Refactoring.
krunal chande
removed all printing
krunal chande
Working nonlinear inequality constraints with unit tests.
krunal chande
Reapply hacks in EliminatePreferCholesky to deal with negative definite hessians obtained from multiplying dual variables with the hessians of nonlinear constraints needed for SQP.
krunal chande
[unfinished] prototyping inequality SQP with Luca.
krunal chande
Added test with pose and a line equality constraint. Works but hessian is incorrect. So basically using nonlinearequality vs linearequality makes no difference.
krunal chande
added debug info, fixed unit test, added nonlinear constraint (circle) test. Doesn't work because of negative definite hessian obtained from multiplying the dual with the constraint hessian.
krunal chande
Obtain dim by using traits.
krunal chande
test files deprecated, might be removed later
krunal chande
added comments
krunal chande
Added Simple QP solver and test. Unit test doesn't work yet
krunal chande
Added nonlinearconstraint and tests
krunal chande
Added constructor
krunal chande
Added structure of test and class. Left with implementation.