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250+ commits behind develop.
Ivan Jimenez
Removed Broken Tests
Ivan Jimenez
First working commit of SQP Line Search for equalities.
Ivan Jimenez
QPSolver Remove Hack / Fix
Ivan Jimenez
Jacobian Factor Fix
Ivan Jimenez
Equality Constraint Works Correctly Except of QP Constraint Issues.
Ivan Jimenez
Multiplied Hessian operation moved to factor graphs.
Ivan Jimenez
Generate Hessian Factors for nonlinear cost factor graphs too.
Ivan Jimenez
Added New Test Cases
Ivan Jimenez
Moved Factor Graph Drawing with Graphviz from NonlinearFactorGraph to FactorGraph for general use.
Ivan Jimenez
Merged develop into feature/SQP
Ivan Jimenez
[REFACTOR] Remove Debug Statements and organize tests.
Ivan Jimenez
[BUGFIX] Fixed unsigned signed comparison warnings [REFACTOR] Now Consistently using shared_ptr . [REFACTOR] Removed Redundant local SQP
Ivan Jimenez
[TEST] Added Tests for factor graph of Hessians.
Ivan Jimenez
[BUGFIX] FIxed problems caused by cost functions with constrained noise model [BUGFIX] Equality and Inequality Factographs now use unwhitened error [BUGFIX] NonlinearConstraint and Cost Factor graphs now correctly add errors. [TEST] Added an even simpleer circle test.
Ivan Jimenez
[FEATURE] Added debugging statements to anlyze QP IndetermiinantLinearSystemException cause
Ivan Jimenez
[BUGFIX] Correctly handle keys for multiple constraints in unit tests. [BUGFIX] Correctly initialize lambdas to zero when optimizing SQPLineSearch.
Ivan Jimenez
Updated SQPLineSearch to be compatible with new GTSAM.
Ivan Jimenez
Merge branches 'develop' and 'feature/SQP' of https://bitbucket.org/gtborg/gtsam into feature/SQP
Ivan Jimenez
LocalSQP Skeleton. Multiplicty still not handled correctly.
Ivan Jimenez
Added derivatives to equality constrained problem for localSQP testing
Ivan Jimenez
Fixed Nonlinear Inequality and Equaliy so they can be used with nonlinear Equality and Inequality Factorgraph respectively. Added Bare-Bones LocalSQP
Ivan Jimenez
Fixed Nonlinear Equality and Inequality Constraints with testcases.
Ivan Jimenez
Groundwork for SQP Iteration
Ivan Jimenez
Added Ivan as author.
Ivan Jimenez
added function stubs for checking point feasability.
Ivan Jimenez
[TEST] Added Four tests for SQP. Forgot SQP Test file.
Ivan Jimenez
[TEST] Added Four tests for SQP.
Ivan Jimenez
Added Ar-Drone SQP LineSearch Code
Ivan Jimenez
Add LineSearch SQP framework from AR-DRONE MPC
Ivan Jimenez
Merged develop into feature/LPSolver
Ivan Jimenez
[TEST] added QPTest. Showcases failure to work on indeterminate linear systems.
Ivan Jimenez
[TEST] Added Remaining Failing Tests AUG2D CONT-050 HS118 HS268 HS51 HS51 HS53 HS76
Ivan Jimenez
[TEST] Added Test HS35MOD [FEATURE] Added support for FX bounds for QPS Parsing format.
Ivan Jimenez
[TEST] Add HS35 [TEST] Disabled HS118
Ivan Jimenez
Forgot to add as a vector instead of a double.
Ivan Jimenez
[TEST] HS118 no also tests for correctness of actual solution found. Removed debug statements. QPS files with ranges now work correctly.
Ivan Jimenez
[FEATURE] Raw QP Untested handling of Ranges.
Ivan Jimenez
[TEST] Now includes a test with QPS ranges [FEATURE] Parser Reads but doesn't handle ranges in QPS files.
Ivan Jimenez
[BUGFIX] Now handles zero default on QPS files.
Ivan Jimenez
[TEST] QP Now correctly handles negative constant values on hessian factors.
Ivan Jimenez
Merge branch 'develop' into feature/LCNLP # Conflicts: # .cproject # gtsam/navigation/tests/testImuFactor.cpp # gtsam_unstable/linear/QPSolver.cpp
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.