krunalchande
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c99a848148
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Refactoring.
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2015-02-18 07:47:51 -05:00 |
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krunalchande
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d435fa72df
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removed all printing
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2015-02-18 07:47:51 -05:00 |
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krunalchande
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cc0e5cd3ca
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Working nonlinear inequality constraints with unit tests.
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2015-02-18 07:47:51 -05:00 |
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krunalchande
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fd461a1c15
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[unfinished] prototyping inequality SQP with Luca.
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2015-02-18 07:47:50 -05:00 |
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krunalchande
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ecc87bdb2b
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Added test with pose and a line equality constraint. Works but hessian is incorrect. So basically using nonlinearequality vs linearequality makes no difference.
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2015-02-18 07:47:50 -05:00 |
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krunalchande
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29e6e67de7
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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.
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2015-02-18 07:47:50 -05:00 |
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krunalchande
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6d76b5910c
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added comments
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2015-02-18 07:47:49 -05:00 |
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krunalchande
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2b1cc7bf22
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Added Simple QP solver and test. Unit test doesn't work yet
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2015-02-18 07:47:49 -05:00 |