robotic 0.3.4.dev1__cp310-cp310-manylinux2014_x86_64.whl → 0.3.4.dev3__cp310-cp310-manylinux2014_x86_64.whl

robotic/include/rai/Optim/m_LocalGreedy.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#include "NLP.h"
+#include "../Core/util.h"
+
+struct LocalGreedy {
+  RAI_PARAM("LocalGreedy/", double, sigma, .1)
+
+  ScalarFunction f;
+
+
+  //-- buffers to avoid re-evaluating points
+  arr x;               ///< point where P was last evaluated
+  double f_x=0.;
+
+  //-- counters
+  uint steps=0, tinySteps=0, maxSteps=300;
+
+  LocalGreedy(ScalarFunction _f, const arr& x_init={});
+
+  shared_ptr<SolverReturn> solve(){
+    while(!step()){}
+    shared_ptr<SolverReturn> ret = make_shared<SolverReturn>();
+    ret->x = x;
+    ret->f = f_x;
+    ret->feasible=true;
+    return ret;
+  }
+
+  bool step();
+};

robotic/include/rai/Optim/m_NelderMead.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include "NLP.h"
+#include "options.h"
+#include "../Core/util.h"
+
+namespace rai {
+
+struct NelderMead {
+  ScalarFunction f;
+  shared_ptr<OptOptions> opt;
+  arr x;
+  double f_x=0.;
+
+  //-- counters
+  uint steps=0, tinySteps=0, maxSteps=300;
+
+  NelderMead(ScalarFunction _f, const arr& x_init={}, shared_ptr<OptOptions> opt = make_shared<OptOptions>());
+
+  shared_ptr<SolverReturn> solve();
+};
+
+} //namespace

robotic/include/rai/Optim/{newton.h → m_Newton.h}

@@ -9,24 +9,25 @@
 #pragma once
 
 #include "options.h"
+#include "NLP.h"
 #include "../Core/array.h"
 
-int optNewton(arr& x, ScalarFunction& f, rai::OptOptions opt=DEFAULT_OPTIONS);
+namespace rai {
 
 struct OptNewton {
-  ScalarFunction& f;
+  ScalarFunction f;
+  shared_ptr<rai::OptOptions> opt;
   arr& x;
-  rai::OptOptions opt;
 
   enum StopCriterion { stopNone=0, stopDeltaConverge, stopTinyFSteps, stopTinyXSteps, stopCritEvals, stopStepFailed, stopLineSearchSteps };
 
-  OptNewton(arr& _x, ScalarFunction& _f, const rai::OptOptions& _opt);
+  OptNewton(arr& _x, ScalarFunction _f, std::shared_ptr<OptOptions> _opt = make_shared<OptOptions>());
   ~OptNewton();
   OptNewton& setBounds(const arr& _bounds);
   void reinit(const arr& _x);
 
   StopCriterion step();
-  StopCriterion run(uint maxIt = 1000);
+  shared_ptr<SolverReturn> run(uint maxIt = 1000);
 
  public:
   arr bounds;
@@ -38,3 +39,5 @@ struct OptNewton {
   bool rootFinding=false;
   double timeNewton=0., timeEval=0.;
 };
+
+} //namespace

robotic/include/rai/Optim/options.h

@@ -13,11 +13,12 @@
 namespace rai {
 
 enum OptMethod { M_none=0,
-		 M_gradientDescent, M_rprop, M_LBFGS, M_newton,
-		 M_augmentedLag, M_logBarrier, M_slackGN_logBarrier, M_squaredPenalty, M_singleSquaredPenalty,
+		 M_GradientDescent, M_Rprop, M_LBFGS, M_Newton,
+		 M_AugmentedLag, M_LogBarrier, M_slackGN_logBarrier, M_SquaredPenalty, M_singleSquaredPenalty,
 		 M_slackGN,
 		 M_NLopt, M_Ipopt, M_slackGN_Ipopt, M_Ceres,
-		 M_LSZO};
+		 M_LSZO, M_greedy, M_NelderMead,
+		 M_CMA, M_ES };
 
 
 struct OptOptions {
@@ -45,12 +46,11 @@ struct OptOptions {
   RAI_PARAM("opt/", double, lambdaMax, -1.)
   RAI_PARAM("opt/", double, interiorPadding, 1e-2)
   RAI_PARAM("opt/", bool,   boundedNewton, true)
-  RAI_PARAM_ENUM("opt/", OptMethod, method, M_augmentedLag)
-//  void write(std::ostream& os) const;
+  RAI_PARAM_ENUM("opt/", OptMethod, method, M_AugmentedLag)
+  RAI_PARAM("opt/", double, finiteDifference, -1.)
 };
-//stdOutPipe(OptOptions)
 
-OptOptions& globalOptOptions();
+std::shared_ptr<OptOptions> globalOptOptions();
 
 } //namespace
 

robotic/include/rai/Optim/primalDual.h

@@ -9,10 +9,12 @@
 #pragma once
 
 #include "options.h"
-#include "newton.h"
+#include "m_Newton.h"
 #include "lagrangian.h"
 
-struct PrimalDualProblem : ScalarFunction {
+namespace rai {
+
+struct PrimalDualProblem : NLP_Scalar {
   rai::LagrangianProblem L;
 
   //duality gap parameter (log barrier parameter) of the primal dual equation system
@@ -23,7 +25,7 @@ struct PrimalDualProblem : ScalarFunction {
   double dualityMeasure=1.;
   bool primalFeasible=false;
 
-  PrimalDualProblem(const arr& x, const shared_ptr<NLP>& P, const rai::OptOptions& opt);
+  PrimalDualProblem(const arr& x, const shared_ptr<NLP>& P, std::shared_ptr<OptOptions> opt);
 
   double f(arr& r, arr& R, const arr& x); ///< CORE METHOD: the unconstrained scalar function F
 
@@ -39,10 +41,12 @@ struct OptPrimalDual {
   arr& x;
   PrimalDualProblem PD;
   OptNewton newton;
-  const rai::OptOptions& opt;
+  std::shared_ptr<OptOptions> opt;
   uint its=0;
 
-  OptPrimalDual(arr& x, arr& dual, const shared_ptr<NLP>& P, const rai::OptOptions& opt);
+  OptPrimalDual(arr& x, arr& dual, const shared_ptr<NLP>& P, std::shared_ptr<OptOptions> _opt);
   ~OptPrimalDual();
   uint run(uint maxIt=1000);
 };
+
+} //namespace

robotic/include/rai/Optim/testProblems_Opt.h

@@ -127,15 +127,15 @@ struct NLP_RastriginSOS : NLP {
 
 //===========================================================================
 
-struct NLP_Rastrigin : ScalarFunction {
-  NLP_Rastrigin(uint _dim) { dim=_dim; }
+struct NLP_Rastrigin : NLP_Scalar {
+  NLP_Rastrigin(uint _dim) { dimension=_dim; }
   virtual double f(arr& g, arr& H, const arr& x);
 };
 
 //===========================================================================
 
-struct NLP_Rosenbrock : ScalarFunction {
-  NLP_Rosenbrock(uint _dim) { dim=_dim; }
+struct NLP_Rosenbrock : NLP_Scalar {
+  NLP_Rosenbrock(uint _dim) { dimension=_dim; }
   virtual double f(arr& g, arr& H, const arr& x);
 };
 
@@ -216,7 +216,7 @@ struct ChoiceConstraintFunction : NLP {
   enum WhichConstraint { none=0, wedge2D=1, halfcircle2D, randomLinear, circleLine2D, boundConstrained, boundConstrainedIneq } which;
   uint n;
   arr randomG;
-  shared_ptr<ScalarFunction> f_uc;
+  ScalarFunction f_uc;
   ChoiceConstraintFunction();
 
   void evaluate(arr& phi, arr& J, const arr& x);

robotic/include/rai/Optim/utils.h

@@ -11,27 +11,17 @@
 #include "NLP.h"
 #include "../Core/util.h"
 
-struct Conv_ScalarFunction2NLP : NLP {
-  shared_ptr<ScalarFunction> f;
-  Conv_ScalarFunction2NLP(shared_ptr<ScalarFunction> f);
-  virtual void evaluate(arr& phi, arr& J, const arr& x);
-  virtual void getFHessian(arr& H, const arr& x);
-  virtual void report(ostream& os, int verbose, const char *msg=0){
-    os <<"ScalarFunction of type '" <<rai::niceTypeidName(typeid(*this)) <<"'";
-    if(msg) os <<' ' <<msg;
-    os <<" dimension:" <<f->dim;
-  }
-};
-
-struct Conv_NLP2ScalarProblem : ScalarFunction {
+struct NLP_FiniteDifference : NLP {
   std::shared_ptr<NLP> P;
-  Conv_NLP2ScalarProblem(std::shared_ptr<NLP> _P) : P(_P) { dim = P->dimension; }
-  virtual double f(arr& g, arr& H, const arr& x);
+  double eps;
+  NLP_FiniteDifference(std::shared_ptr<NLP> _P, double eps=1e-6) : P(_P), eps(eps) { copySignature(*P); }
+  virtual void evaluate(arr& phi, arr& J, const arr& x0);
+  virtual void report(ostream& os, int verbose, const char *msg=0){ os <<"FiniteDifference version of: "; P->report(os, verbose, msg); }
 };
 
-struct Conv_NLP_SlackLeastSquares : NLP {
+struct NLP_SlackLeastSquares : NLP {
   std::shared_ptr<NLP> P;
-  Conv_NLP_SlackLeastSquares(std::shared_ptr<NLP> _P);
+  NLP_SlackLeastSquares(std::shared_ptr<NLP> _P);
   virtual void evaluate(arr& phi, arr& J, const arr& x);
   virtual void report(ostream& os, int verbose, const char *msg=0){ os <<"SlackLeastSquares of: "; P->report(os, verbose, msg); }
 private:
@@ -54,8 +44,8 @@ struct NLP_LinTransformed : NLP {
 // checks, evaluation
 //
 
-bool checkDirectionalGradient(const ScalarFunction& f, const arr& x, const arr& delta, double tolerance);
-bool checkDirectionalJacobian(const VectorFunction& f, const arr& x, const arr& delta, double tolerance);
+bool checkDirectionalGradient(ScalarFunction f, const arr& x, const arr& delta, double tolerance);
+bool checkDirectionalJacobian(VectorFunction f, const arr& x, const arr& delta, double tolerance);
 
 //===========================================================================
 //
@@ -63,5 +53,5 @@ bool checkDirectionalJacobian(const VectorFunction& f, const arr& x, const arr&
 //
 
 void accumulateInequalities(arr& y, arr& J, const arr& yAll, const arr& JAll);
-void displayFunction(ScalarFunction& f, bool wait=false, double lo=-1.2, double hi=1.2);
+void displayFunction(ScalarFunction f, bool wait=false, double lo=-1.2, double hi=1.2);
 

robotic/include/rai/Search/TreeSearchNode.h

@@ -42,7 +42,7 @@ struct TreeSearchNode {
 
   //I/O
   virtual void write(std::ostream& os) const { os <<name; }
-  virtual void report(std::ostream& os, int verbose) const { std::cerr <<"NOT OVERLOADED!" <<std::endl; }
+  virtual void report(std::ostream& os, int verbose) const { std::cout <<"NOT OVERLOADED!" <<std::endl; }
   virtual void data(Graph& g) const {}
 };
 inline std::ostream& operator<<(std::ostream& os, const TreeSearchNode& D) { D.write(os); return os; }

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.3.4.dev1'
+__version__ = '0.3.4.dev3'

{robotic-0.3.4.dev1.dist-info → robotic-0.3.4.dev3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robotic
-Version: 0.3.4.dev1
+Version: 0.3.4.dev3
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.3.4.dev1.dist-info → robotic-0.3.4.dev3.dist-info}/RECORD

@@ -1,11 +1,11 @@
 robotic/DataGen.pyi,sha256=qDQjATpbIgFvOrWk7F3ZTVbOuyXjT5nwHxrsRfGxWRU,3716
 robotic/__init__.py,sha256=h8LG-Fle7lAtkJ-ZE1u5kWTyuayhugNxtFX9T_JKQGY,476
-robotic/_robotic.pyi,sha256=cmdhpWzjTIOjayzcAio8wbhI9yYAjekS3zW_J_mb87Q,77158
-robotic/_robotic.so,sha256=fPVv7Wrf1bcSJvxE2kyHaejiRtbfP9QV0R693R_HVDY,1271656
+robotic/_robotic.pyi,sha256=elGV7HLgxv2rpjwtTNc4-XFZYqV_Ka5iYgDdsCWyfe4,78736
+robotic/_robotic.so,sha256=UDiKkO6YLuKUl7YBcJA8xvR93NCWBVyRdn7Krj-ceec,1283944
 robotic/algo.pyi,sha256=hAN3ZPvf4VnhcdoRP-EecAwUge_JMxovJ9lAOIgWX2Q,730
-robotic/librai.so,sha256=k5nsbOF742eJiWao-zSOV-k99ForiS4AFvAPo0DnJ5M,38886080
+robotic/librai.so,sha256=6RzS5XjU-WUp40taQUTYmArrBL7B2pD4WmhkFSJB_ks,39030496
 robotic/manipulation.py,sha256=0B7UzU9J7b4f19thz67TbvknoncxffQEMHSBB6ez1Jg,22279
-robotic/meshTool,sha256=2qh3VPeinawY7HvFbFH7aREfavrgES7PGB-i7xrTdwY,56280
+robotic/meshTool,sha256=W_0nI2SG9N-qnmSiHRb6MBkEbpWOUXgtaY8q-qd1fcg,56288
 robotic/mujoco-import.py,sha256=8eC8ldlFwnYQfqII3FVdWEQ7zd1PkSdAF-oyryIQtkY,231
 robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
 robotic/render.py,sha256=OE1dvyWHD7Oyzk4wlhXZ7m3v3xxa3zAL5_LCV1RgJXk,4662
@@ -17,9 +17,9 @@ robotic/ry-test,sha256=MYMwRyOwCDxsgUwSPj9etNRSKJWvc6jwVWUJNkxlw-U,979
 robotic/ry-urdfConvert.py,sha256=8Efnq3PU202rrZrVEZiGwzFOJdvrLjTJ2q-gnY6-tiU,2556
 robotic/ry-view,sha256=T1Omn1QS7cNAtjQhBjMJTNz7aW5FgoOf9vBIfW0mFME,613
 robotic/test.pyi,sha256=vVxwRSerjUG4bpB7pIhof7ZatrBqwg3Bj5voywa-YTI,917
-robotic/version.py,sha256=FpPEmzsKx6hTzWWdVU3adASkw6jb_QzVwwVUnboVuRo,27
+robotic/version.py,sha256=xfsM48038Ic2hSirS2ELKQKlZiXeyw-AF4CeC_ZmfBE,27
 robotic/include/rai/Algo/MLcourse.h,sha256=TGkAJWC5ollGfPw0-gcYL0TZeDJiHtWFzkHSMK8_lqU,1828
-robotic/include/rai/Algo/RidgeRegression.h,sha256=SndbBtDte12eUAEFwagmg-xjXIA11z6iTTBxJd_fKAo,3742
+robotic/include/rai/Algo/RidgeRegression.h,sha256=VXiv6-xr3j--CN7DJTzUg9Xb49zV9FZ9dwzxP1CmcPM,3730
 robotic/include/rai/Algo/SplineCtrlFeed.h,sha256=yILBoUh9Ce0YtzGVZeAKmdUqsf0xeCGjXGC8bXNzZ3o,3339
 robotic/include/rai/Algo/ann.h,sha256=XCQSzJIg_cPzZBKgIJMuHvBLc3ayD1FzSFqh2s_1TnM,1294
 robotic/include/rai/Algo/dataNeighbored.h,sha256=NfwS4xJElLxX8t5cYY3xiTLXgJyMsHoaD-J0kT2GXqE,1208
@@ -31,7 +31,7 @@ robotic/include/rai/Algo/kalman.h,sha256=c3i6ebYHZtyT5ReTmpJVx8aJ26JWLymqK_QRDY4
 robotic/include/rai/Algo/marching_cubes.h,sha256=dvk9PfTP4xBFMIcS_4tRVpMJaMH90-vi-a52xArEQ0U,145
 robotic/include/rai/Algo/minimalSpanningTree.h,sha256=56zTSWdMi4TMjtQDVv7tHo4ahivfidTXWN4zp9NX-Jw,512
 robotic/include/rai/Algo/priorityQueue.h,sha256=nF-5_eSbGjXMmY2K3SpD-Hxwb3bhFA1ilr6IBsFq87Q,1938
-robotic/include/rai/Algo/rungeKutta.h,sha256=Kbqeu-MauQDQnmKXSRk3VnOLUY_ngKzy-rqSskBqR9k,1761
+robotic/include/rai/Algo/rungeKutta.h,sha256=2Lfv8wzt2VSPYm2JG0gMAGsQYrd4yIx8sjv8GhkpXus,1765
 robotic/include/rai/Algo/spline.h,sha256=mNi6ktREVFYkdJWPZaCrnvCW3AuZyMAsktYkRz3Ywxo,4269
 robotic/include/rai/Algo/trilinear.h,sha256=RhTO8FyB-lO4qfoOZgZPyrZo_2XMaVfBZ8BIETomvMc,200
 robotic/include/rai/Algo/Lewiner/LookUpTable.h,sha256=0MRA9ioCeKoMhXYqtxaOPHTMwR_GkmyDFx2mgpSvs9s,158933
@@ -50,29 +50,29 @@ robotic/include/rai/Control/WaypointMPC.h,sha256=Pa36-K1yMxszD9EFuLfLayaOe9pTK8c
 robotic/include/rai/Control/control.h,sha256=_dJefR6WzvdQMaJIYIBuYP8NwoKgNeG4owhQWPxWXzo,765
 robotic/include/rai/Control/ctrlMsg.h,sha256=uGuwAaKM1UsQW3hTNv4AihW99MJMuow4cxa9-AU9AmA,1121
 robotic/include/rai/Control/timingOpt.h,sha256=Ne_IH8QuFCID0Sy88LS5i3qkp1nL1FbIgREqSjRctz0,2045
-robotic/include/rai/Core/array.h,sha256=ugDmxIL7Wv7YOjykfCqCG7wWLu09nHAL8al8ffPk8rQ,26190
-robotic/include/rai/Core/array.ipp,sha256=DNmfosznj0jF-5lXTb8NUejfrVfs_Fw3O0IvvnDfF7M,63560
-robotic/include/rai/Core/arrayDouble.h,sha256=MFO1FpZKebxFe9xx9RGpjq44QAga6YYiXu7BtfKFlE0,29107
-robotic/include/rai/Core/defines.h,sha256=Y5YF92lo5dV3r0W6DFCapY7_7vUk9dS1po6ixtNxGIg,6896
+robotic/include/rai/Core/array.h,sha256=Shyr07ekAzustkdE76wuOXJUduGtigYfcoNPNqogWOY,26889
+robotic/include/rai/Core/array.ipp,sha256=Ny13iTLc3-kT-Ll1k6iKl2coWeMPpDemDLqCQqPQuLI,62968
+robotic/include/rai/Core/arrayDouble.h,sha256=hkDMhYu7rxWkczdhCh7Zh1h7_bLN8yFkgd6cy8t-11g,29467
+robotic/include/rai/Core/defines.h,sha256=2POkrvkqqwX9ZZBEEgn-cZrnGBI6PORZiobujdFF39o,6877
 robotic/include/rai/Core/graph.h,sha256=vV4Cu8wCTz3zQZPK_a1xKVjbWGNhX4nuEGZ2vq6zhCE,20373
 robotic/include/rai/Core/h5.h,sha256=cfs8cew5QYpOxbWFZHV9TXVh5_dEJdFF1-aGZVR54EY,1162
-robotic/include/rai/Core/thread.h,sha256=oCcqgzPHYoVwCbarDibmbTwxKxnGGwdK0e0re3yWfPY,18303
-robotic/include/rai/Core/util.h,sha256=6cKEdQNwoZMDm4iFt8fHWzxpfZTpg1heukdGWG4j4cU,18931
+robotic/include/rai/Core/thread.h,sha256=iYk7_OTdOJFazCqoW6tpcdWe1UKFQrbGqM6DwZuTBmI,18303
+robotic/include/rai/Core/util.h,sha256=Wpv_lSPeh7IsMJgkSHHQdYkLmLPIJbg6F6L4H1KU1yU,18914
 robotic/include/rai/Core/util.ipp,sha256=soCVdpzWTpLL9i6rilFPNGozHZP40yhkmuXul7gHC7o,2157
 robotic/include/rai/Core/lapack/blaswrap.h,sha256=jl8W6GwBGMiU-ND9ILeKqWlIvryw7AsIydPUCQGT_ew,3750
 robotic/include/rai/Core/lapack/cblas.h,sha256=4bSmMzZ4idIPlmcwjw5HuwY1cs5RU73ZwmfydSpaBdk,32367
 robotic/include/rai/Core/lapack/clapack.h,sha256=8rLteHzzGpKhJZXv4Eom9mk8lzbwRwjJuIqJuR1eePc,343373
 robotic/include/rai/Core/lapack/lapacke.h,sha256=cpP6MEjkLGyhS8mV6ysRlTVeUam6f8zBgFUJB1phuwM,1045408
 robotic/include/rai/DataGen/rndStableConfigs.h,sha256=RdAD1kDsKic7WwBvLtFyIVnGKdtGqhxekBKjoeeUd40,403
-robotic/include/rai/DataGen/shapenetGrasps.h,sha256=NlpKWicgaylzw1si7EPzeM7cE_-V9jvhB4mK1Slmt8E,1620
-robotic/include/rai/Geo/assimpInterface.h,sha256=2Jg7v2GZ83nz4kkgPLzbSWTIBmL9nZg-LhMlWcjiF_o,1055
+robotic/include/rai/DataGen/shapenetGrasps.h,sha256=VA7keWDLfxTj4XvevzV7h1ApJsgCxPnKm-LhOXPLDZY,1618
 robotic/include/rai/Geo/depth2PointCloud.h,sha256=0mXJnTk0sMB--KDE9CO_2gKgGw4gHXUe7xg6DcROhvk,1168
-robotic/include/rai/Geo/fclInterface.h,sha256=d89JFW3WKI64gOdQSGs6uFdE7NcMavNg89BMHhzMDac,984
-robotic/include/rai/Geo/geo.h,sha256=6bjl_R_Olr_pvlKcxPNdiu8brWFfYJMVQrKSbx3zhpA,14937
-robotic/include/rai/Geo/mesh.h,sha256=OH1M7cRuJih8DOeCat1cktnfU4jD45nYhtlhEwxNLEg,6894
-robotic/include/rai/Geo/pairCollision.h,sha256=TeV_Vpu9MuXG9wwI0zOyOZX7l54gAjxKnrJJyLR2gDU,4258
+robotic/include/rai/Geo/geo.h,sha256=NA4_s_4TrXaYLoStH36eZy9yZexFdvjNffnsr_xaeQY,14825
+robotic/include/rai/Geo/i_assimp.h,sha256=2Jg7v2GZ83nz4kkgPLzbSWTIBmL9nZg-LhMlWcjiF_o,1055
+robotic/include/rai/Geo/i_fcl.h,sha256=d89JFW3WKI64gOdQSGs6uFdE7NcMavNg89BMHhzMDac,984
+robotic/include/rai/Geo/mesh.h,sha256=wGT463J0LW_LsJm7lFoU-INqmcro5_hj3Q_jXRI3QrM,6873
+robotic/include/rai/Geo/pairCollision.h,sha256=SnXp_vdiiFVan2OxgyPZrXpNKCO3_R8EHX8bfP9zkyo,4434
 robotic/include/rai/Geo/qhull.h,sha256=dRAAHIdvujPPW1fXW4hXMjgixpBDajDg-y_OX1JMi_0,1890
-robotic/include/rai/Geo/signedDistanceFunctions.h,sha256=qOPr-m6krqG9XQJX6BsCfu4WLmFjXGtxmZpm-pXd5N0,4737
+robotic/include/rai/Geo/signedDistanceFunctions.h,sha256=mM4oi6ai1bRSmFrZkBa40mqwjpVvfV193jMkAuN0xh4,4815
 robotic/include/rai/Geo/stbImage.h,sha256=R5MRPs3KLL-GOipzAN_jdV-pdlBCTkUFaA5LnYEIElw,100
 robotic/include/rai/Geo/stb_image.h,sha256=3GREaSd1mttRQgl4onz7bVjl5FGNMROXlWCXoK94G6g,251785
 robotic/include/rai/Geo/testProblems_Geo.h,sha256=PAO_y2X6KFjbfpCBoy59GkVq_A82ovg-stLO3EJ7iuE,927
@@ -95,7 +95,7 @@ robotic/include/rai/Gui/color.h,sha256=4ElBkpWgwBuqQEFD4Mdhv_afZE4ul6NkptwFQ2oDS
 robotic/include/rai/Gui/opengl.h,sha256=NipYBJ40hqC6K7xqmB0UYdU4rX_zQgnh7rsi5_Fg0-8,9101
 robotic/include/rai/Gui/plot.h,sha256=Y_X9-V6IExvFafNzkG88O2wUGDCCnarUzpi5b0DKBcQ,2346
 robotic/include/rai/KOMO/PathSmoother.h,sha256=y-t3yVEZvxfQIs8_EA-WI7FJ_RzfbG8TEfdiNAruuUI,813
-robotic/include/rai/KOMO/komo.h,sha256=n2waF70m3GF8c-wOKmKD-kR5R1eFJQ9brwgZZJQVs-Q,13484
+robotic/include/rai/KOMO/komo.h,sha256=zLHRhFnmkM_OGOzMNwl8xZCxHbB2cOAgLb8UJgfe26I,13485
 robotic/include/rai/KOMO/komo_NLP.h,sha256=GX4bxbAfbV_z42XrLmS0drLPcsIZiioRkWhF3UuhZno,3681
 robotic/include/rai/KOMO/manipTools.h,sha256=wZdCohK4g5Jzq2bdIOXmRqaCVQNTK5k-FC20ViUXi98,4620
 robotic/include/rai/KOMO/objective.h,sha256=Cl4-KjheRMNWoh_xFas5tLWMKSMlJf-HLDihfqvfcSw,2704
@@ -112,21 +112,21 @@ robotic/include/rai/Kin/F_geometrics.h,sha256=2yPFycgcmZjXLezxoRL_aaetrZusDgtGyx
 robotic/include/rai/Kin/F_operators.h,sha256=Nxdk1dPSoN7lW0A5Ns-BSJ_YXFft4iZi9RDOmVn3BJ0,1608
 robotic/include/rai/Kin/F_pose.h,sha256=QlZnpS4ZTNFBZlH-lpe6sTt2gdbxbjsZTHPqk0T_4AI,5252
 robotic/include/rai/Kin/F_qFeatures.h,sha256=x4cfFGaVBQSmj9ZetcC25qiGxnvfNMPsWh9zbPa5owE,2212
-robotic/include/rai/Kin/cameraview.h,sha256=byzJyTxP4Irh0A6gi8ZNndvJ0UFDD8leLfbW9B7laJI,2478
+robotic/include/rai/Kin/cameraview.h,sha256=39RakWi-cKHqfeUxYQ25uQ2MrNMM4SeKtxRtoLKa8zw,2968
 robotic/include/rai/Kin/dof_direction.h,sha256=9tio7VXxXAv-ZAxA6QskjD5rMH2LHU4hIGAG6TC0RaY,831
-robotic/include/rai/Kin/dof_forceExchange.h,sha256=TM-DHiGxaw9g3O5IcN7M7VDWF_8LKKtie3qvPn8Y1dA,1931
+robotic/include/rai/Kin/dof_forceExchange.h,sha256=LcqbyfFYI2CyNoiJlY1WxkXRgsMfSmrV3PuynG9kdCA,1952
 robotic/include/rai/Kin/dof_particles.h,sha256=PboLndC5a5extUKAfUPAIsJEGTTs6_ACDgnLrei2s8g,790
 robotic/include/rai/Kin/dof_path.h,sha256=XRPj3bH90JUIdkTS4jxwbAb5n9yAsRoemWUWUV1xDtQ,792
-robotic/include/rai/Kin/feature.h,sha256=xicsrElMcYnYXdIXdO5LBLmXxvCGVUVgZJY2NIarO5I,3935
+robotic/include/rai/Kin/feature.h,sha256=6YQbXa4DGg3QQsUCCaf3WnUlxyQ26CkUbmYhTawAT0U,3946
 robotic/include/rai/Kin/featureSymbols.h,sha256=JVXbXoW43PlEGOgwHPpULlbXUQzkl79F1EFnfl-0wyk,1984
-robotic/include/rai/Kin/frame.h,sha256=BiBxcR9-6ErLJW3KU0ksZzc_agkpH0xKxrHDA-qlMU4,14614
+robotic/include/rai/Kin/frame.h,sha256=NuCChz0UzS8SCWJXnTrq6O8zi8wsuymPg65zTQjCpFQ,14603
+robotic/include/rai/Kin/i_Bullet.h,sha256=y8aApXpXY4bD5QN_WmDAU2vNEvvbdo1Rd4zY7qo-FKE,1970
+robotic/include/rai/Kin/i_Feather.h,sha256=o-hOJA8UcmIBKx_qPzoG9R7fxzz-4zhBNMBmBTK21oA,1627
+robotic/include/rai/Kin/i_Ode.h,sha256=zwB8Le1WMGRkQBc9bssndJICkjO1lZ_y1aZKCwP4c1Y,3686
+robotic/include/rai/Kin/i_Physx.h,sha256=CxsmnWHQMgJBbhA5iajLpOjxpCkd9243tlVyYkNRgOM,1950
 robotic/include/rai/Kin/kin.h,sha256=mzHgBV-j46PstUXzXsvVg_b64Q0jUNNk3bPfbnH7Vag,16120
-robotic/include/rai/Kin/kin_bullet.h,sha256=y8aApXpXY4bD5QN_WmDAU2vNEvvbdo1Rd4zY7qo-FKE,1970
-robotic/include/rai/Kin/kin_feather.h,sha256=o-hOJA8UcmIBKx_qPzoG9R7fxzz-4zhBNMBmBTK21oA,1627
-robotic/include/rai/Kin/kin_ode.h,sha256=zwB8Le1WMGRkQBc9bssndJICkjO1lZ_y1aZKCwP4c1Y,3686
-robotic/include/rai/Kin/kin_physx.h,sha256=CxsmnWHQMgJBbhA5iajLpOjxpCkd9243tlVyYkNRgOM,1950
-robotic/include/rai/Kin/proxy.h,sha256=jfFQrvokqvt8bGYEzGQoD2ZpnuWuLzCeOjFfUvdxcx0,1473
-robotic/include/rai/Kin/simulation.h,sha256=jeW1Pj4AVk9mjBTYjDpNd19Dw0QH__m6VhjSvkiftcs,5510
+robotic/include/rai/Kin/proxy.h,sha256=yn19c-lrt6Fv8AE76ex_UObEFaNxMhItukv-KQgXZN8,1420
+robotic/include/rai/Kin/simulation.h,sha256=IYPnYDCWPQUIDivoOWXX8BqQaEf3nbadM3dKyCdoWbg,5653
 robotic/include/rai/Kin/viewer.h,sha256=XhfZ3QUYdCuye3NnCwPe2XnoJAqnf9RCtMAZLsc3fd4,2432
 robotic/include/rai/LGP/LGP_SkeletonTool.h,sha256=T4lXAUxY2QFo_ETZEm7RqRzfmU6NAHdVcow8qj_8-9Y,3240
 robotic/include/rai/LGP/LGP_TAMP_Abstraction.h,sha256=EKbyNFgro7Xg5uueo6bXNrNSBTFeQUS1swiy9izQiXc,1492
@@ -140,29 +140,35 @@ robotic/include/rai/LGP/NLP_Descriptor.h,sha256=1XJ-Wzvf5kh6IdRmhwG4QIDW5D7N9fVq
 robotic/include/rai/LGP/initFol.h,sha256=m67VqzKUQzMN0kBFL0lWACu0ls7eYj8ExyXVFjuLtDA,507
 robotic/include/rai/Logic/fol.h,sha256=ubWsZacmrRPGeDPKQVGKDoGC_4GxYGdVLJ0K3a3eZu0,3598
 robotic/include/rai/Logic/folWorld.h,sha256=XpqTWOIvZbKlS_vsJkXOexrhjfy3_iywebFezJamhHA,6072
-robotic/include/rai/Logic/treeSearchDomain.h,sha256=sO5Y6o9wRTQxfST9YyJw3P0KcqGX7ISqbIN-uGQ5abU,3882
-robotic/include/rai/Optim/BayesOpt.h,sha256=wNegCkDd9m6s0_ehnGx7jbtgTSQneg3bLOdR_q4W-Mc,1208
-robotic/include/rai/Optim/GlobalIterativeNewton.h,sha256=jcGk5-aZ-CsaXG75TtIG9sc71AX7yZLpuM3UsFHEu6M,795
-robotic/include/rai/Optim/NLP.h,sha256=up1E_L5dF5UOSkpePws10eMJ3Fu-947MuagIF8jQdkU,8235
+robotic/include/rai/Logic/treeSearchDomain.h,sha256=ORUzTM0IhRSQ7z3cJh9w7m24-y-ZGLpsCEALzb8F3tU,3882
+robotic/include/rai/Optim/BayesOpt.h,sha256=bDSXXVV_-szB-6SeT9afodVi8DuQfdk6-Er2UFlgoN0,1276
+robotic/include/rai/Optim/GlobalIterativeNewton.h,sha256=dcTblUANjZx82zFugK9ItKuo69Llw8G6lvaMSzLhwHA,867
+robotic/include/rai/Optim/NLP.h,sha256=jVLFJXz59FZDPD7HHmI36fsECZG8mUqZkzLu94_iFF8,8737
 robotic/include/rai/Optim/NLP_Factory.h,sha256=xDn73B-u6fFvtu-udkXgyTiFyjTzfJNHwUm6z88FiOo,1979
 robotic/include/rai/Optim/NLP_GraphSolver.h,sha256=Te5_uyLrBvHANfGv9uHdR6YPuCWCqgJqj9EL8WYfF14,1172
 robotic/include/rai/Optim/NLP_Sampler.h,sha256=JaOEc8YJwatW5toOviTFXlOoF3Dg8ZWPM9zejyW9ND8,4643
-robotic/include/rai/Optim/NLP_Solver.h,sha256=Y07FfnrTjkVldXFU5HJ0SB0pOlGGivQ9k_4vpEM3YoA,2482
-robotic/include/rai/Optim/SlackGaussNewton.h,sha256=C9GqyHzcseIY2xUMN4QmymOLtWjJcNmbhS5JJMiAPao,1055
-robotic/include/rai/Optim/constrained.h,sha256=SHzXqARD5nzOH9orgQyfut6i4QWjd3gp-WgEP4PKMiM,1502
-robotic/include/rai/Optim/gradient.h,sha256=1FrzwbjTRbhfsZbBFp_DEQMI1oq4wwt8oseLjfUWnpg,1835
-robotic/include/rai/Optim/lagrangian.h,sha256=XQiykNcexB03nyzy78lv_2VmfDe1dFLnm7qKLk28p6Q,2550
-robotic/include/rai/Optim/lbfgs.h,sha256=ulk-87QADRu7dbMiDvRWu6zPE6Wlx5hxtfIbnfnJVdc,283
-robotic/include/rai/Optim/liblbfgs.h,sha256=Lu3zbs6PADps0WIbJHh_eoIxkCH7JPcEFZ6h5988JaI,32809
-robotic/include/rai/Optim/m_LeastSquaresZeroOrder.h,sha256=ke_5LmUuVfwSNLqT4kHizYnPQarbdREJaT0PGkEZBlI,958
-robotic/include/rai/Optim/newton.h,sha256=sQozCA1yL3JG7SESJW4AWSyFiM5aOUN6WxgQwZ3jJ9g,1139
-robotic/include/rai/Optim/opt-ceres.h,sha256=kQbuKAfvOFIPcGWh2laGHyRsSf0A8mggVUGonq3JaHU,946
-robotic/include/rai/Optim/opt-ipopt.h,sha256=1v147tZVY3MuNMRLaFFWxKC7fyNP5-59WJzKoVv8BsY,516
-robotic/include/rai/Optim/opt-nlopt.h,sha256=R0ma9SjxcVU9nI7H39QOWUIPy95H4AiQwLRHz3DRe7k,970
-robotic/include/rai/Optim/options.h,sha256=U0Icnya7r4l1pBHwdGlsjufNZuvXtkqJKCseQFgb0Mk,1925
-robotic/include/rai/Optim/primalDual.h,sha256=MP3vXRswnVLV09cqZWe0KomjXQEWxz7yMOd9NvMY4MY,1263
-robotic/include/rai/Optim/testProblems_Opt.h,sha256=viiOu5FJHUWFcc-csl72g0G3Ogtqe0DedC08jIn-Mjk,6665
-robotic/include/rai/Optim/utils.h,sha256=UDsMMMyuxNzTB8bHg1IFkGGQMTuCAD1Z9RTGJ8e_qpQ,2350
+robotic/include/rai/Optim/NLP_Solver.h,sha256=_9uwj61sobPl5-Q8bpxz4Wb6i5Q6nctfFspfKP_0tNA,2521
+robotic/include/rai/Optim/constrained.h,sha256=VdtrNywvRiDvfb3_KICQnnkE54EuadV0y2a1kuXM6eA,1522
+robotic/include/rai/Optim/i_Ceres.h,sha256=kQbuKAfvOFIPcGWh2laGHyRsSf0A8mggVUGonq3JaHU,946
+robotic/include/rai/Optim/i_Ipopt.h,sha256=1v147tZVY3MuNMRLaFFWxKC7fyNP5-59WJzKoVv8BsY,516
+robotic/include/rai/Optim/i_NLopt.h,sha256=R0ma9SjxcVU9nI7H39QOWUIPy95H4AiQwLRHz3DRe7k,970
+robotic/include/rai/Optim/lagrangian.h,sha256=KaORGcnP3je7AiF_kzNe9nYGlCfwVt-exTMiehmJugo,2532
+robotic/include/rai/Optim/m_EvoStrategies.h,sha256=Tvd3DDcd8QCwv5-i0s0WPVF_c25VWx7xcGDex_SQ0wg,3292
+robotic/include/rai/Optim/m_Gradient.h,sha256=u5e6fsPd54qRvQwvbHeFjj-qLij_SlP6BlR0eEKVeFA,1743
+robotic/include/rai/Optim/m_LBFGS.h,sha256=EkKO7ws6M0cRB2zGsbxtU1meyfAvJw-BlCrY1bijZaM,311
+robotic/include/rai/Optim/m_LeastSquaresZeroOrder.h,sha256=_64u-BQMU6D939ilkglnCj4CgOIBswZhSd0yRYgJ7XE,1597
+robotic/include/rai/Optim/m_LocalGreedy.h,sha256=wfTFZl2C7qxCV6J0oxsRiHN9wBF2sOJLGe11ct8lQlo,608
+robotic/include/rai/Optim/m_NelderMead.h,sha256=-RGRwr444FjECny_PGLf1Cl604yismZGCZ1FSndRacE,419
+robotic/include/rai/Optim/m_Newton.h,sha256=uHsS8EDATlm11CGo84BD0ruo3JhXIP7afiY2rvwBOSg,1162
+robotic/include/rai/Optim/m_SlackGaussNewton.h,sha256=C9GqyHzcseIY2xUMN4QmymOLtWjJcNmbhS5JJMiAPao,1055
+robotic/include/rai/Optim/options.h,sha256=GulPzyhIyrV3TD6i34_JbJbtSPAt9f6zRuqGzUQmjZg,1968
+robotic/include/rai/Optim/primalDual.h,sha256=Ku91MisgpNyRv6W7UPV4d5Q2Gjfwefqam7eeFsxITUU,1309
+robotic/include/rai/Optim/testProblems_Opt.h,sha256=6OED5_nsjTn-MiWy8kVzTJXRxR5bG2WZ_ZvZei8QXec,6657
+robotic/include/rai/Optim/utils.h,sha256=DYWZ34FGL1Cs_xbJyn6vFzPh3mImT7CIm8QMgk4Y99k,2043
+robotic/include/rai/Optim/CMA/boundary_transformation.h,sha256=Ylu2ZX14fHqpJdKPbIZwR_ttfazgMv8nLJ0l0vvgvRA,3841
+robotic/include/rai/Optim/CMA/cmaes.h,sha256=EphfakrvvJOVgfBj0I9-hJuBV3zdCLmzEi_FqDnQh1I,4588
+robotic/include/rai/Optim/CMA/cmaes_interface.h,sha256=ntBGw2nlUi4bx0ZtW7qzbhwccdE0x8aZBFZkoqIVEn8,2743
+robotic/include/rai/Optim/liblbfgs/liblbfgs.h,sha256=Lu3zbs6PADps0WIbJHh_eoIxkCH7JPcEFZ6h5988JaI,32809
 robotic/include/rai/PathAlgos/ConfigurationProblem.h,sha256=Zl_J3yooYFxA2-z-ulFL67nfzQBX90hUbD_cVFzpb3U,1351
 robotic/include/rai/PathAlgos/PathResult.h,sha256=xxZiD8ClGKO719mQR50BsIzOlHeoH0UH4QNzWifoz6c,1070
 robotic/include/rai/PathAlgos/RRT_PathFinder.h,sha256=JBptbQVUc5GWEMer_ypmtMNUK0S0sBo3M0d4E2q4doQ,3306
@@ -186,7 +192,7 @@ robotic/include/rai/Perception/surfels.h,sha256=OblVWjI_bEpQwqcANJ8cHYvah4BraYmL
 robotic/include/rai/Perception/videoEncoder.h,sha256=TWphAWKPuvwwM6kNSfbEv57w9_LzZSbx-zkovfPVGA0,1823
 robotic/include/rai/Search/AStar.h,sha256=qXZybtUHusQUjmA2xYCvKtLpe8Saq73klpnBuz1plZc,1209
 robotic/include/rai/Search/ComputeNode.h,sha256=JcUy-8fmMsFbluSriDOh9FgLrJhaC4ggoiQwQa-1IZ0,3420
-robotic/include/rai/Search/TreeSearchNode.h,sha256=fvPE2LV_GsIAGSQxaDOdiJdkF_2MA4M0ORRtWmVcwwA,1774
+robotic/include/rai/Search/TreeSearchNode.h,sha256=13aF424b9MAcFNrDgNasWOthnp19zgJDaDo4lKDXbcY,1774
 robotic/include/rai/ry/py-Config.h,sha256=fk-TJMXqY6b9UYk3gYC8pW_BkbUr-D-PtkQ--96zxoc,644
 robotic/include/rai/ry/py-DataGen.h,sha256=mZHIv7PdR9_QBDKy0ONqHKQ70sr89dpgfKlO4UMByD8,434
 robotic/include/rai/ry/py-Feature.h,sha256=t8Tyf1PJ4bkyCRC_mKF6JTallco8YRAX0PTtkid7Vws,434
@@ -367,15 +373,15 @@ robotic/src/meshlabFilters.mlx,sha256=SCIiIk7XZusvKEKY62pHSem_R3TcMUP8BFaLTVUcnE
 robotic/src/mujoco_io.py,sha256=drLNE4yo30hpOY01-AsuCWKLvNoG5w2YDSzR_rlyfz0,9474
 robotic/src/urdf_io.py,sha256=bbPcJWS9rnYk8CWgEZTmx1XJRBIDrfwgCj-S_RFxl9U,8800
 robotic/src/yaml_helper.py,sha256=Jf9QaKSNQrPkUPqd5FUDv7_h0wDlGXrhCdMwu6y-Nh0,925
-robotic-0.3.4.dev1.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
-robotic-0.3.4.dev1.data/scripts/ry-h5info,sha256=6orNP37WPoobKup0PcLXQvbiCVWqeRR_JQyMH1iXHJk,449
-robotic-0.3.4.dev1.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
-robotic-0.3.4.dev1.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
-robotic-0.3.4.dev1.data/scripts/ry-test,sha256=YTCSIuTA4JYk7j7TAr-t7IIp5g6hdLRlTPxJZBxQVpk,965
-robotic-0.3.4.dev1.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
-robotic-0.3.4.dev1.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.3.4.dev1.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.3.4.dev1.dist-info/METADATA,sha256=OICX5bQ74SsUTb7fHrwbel6qelPEWZOZ7QlOmGLF_f0,6663
-robotic-0.3.4.dev1.dist-info/WHEEL,sha256=0-G7woG4LgutcYzUGJCOYFgoh749-FtfhSMeIPLVGS0,104
-robotic-0.3.4.dev1.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.3.4.dev1.dist-info/RECORD,,
+robotic-0.3.4.dev3.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
+robotic-0.3.4.dev3.data/scripts/ry-h5info,sha256=6orNP37WPoobKup0PcLXQvbiCVWqeRR_JQyMH1iXHJk,449
+robotic-0.3.4.dev3.data/scripts/ry-info,sha256=fL5QXJL4Xx-Q42L2C29HHbj1XsmWdWiKIv9rVfc5sm4,425
+robotic-0.3.4.dev3.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
+robotic-0.3.4.dev3.data/scripts/ry-test,sha256=YTCSIuTA4JYk7j7TAr-t7IIp5g6hdLRlTPxJZBxQVpk,965
+robotic-0.3.4.dev3.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
+robotic-0.3.4.dev3.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
+robotic-0.3.4.dev3.dist-info/licenses/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
+robotic-0.3.4.dev3.dist-info/METADATA,sha256=aoF27hrmCkKvJ2dhwB-KHYqHjgX8AYCXK9dkw0Q6RLo,6663
+robotic-0.3.4.dev3.dist-info/WHEEL,sha256=0-G7woG4LgutcYzUGJCOYFgoh749-FtfhSMeIPLVGS0,104
+robotic-0.3.4.dev3.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
+robotic-0.3.4.dev3.dist-info/RECORD,,

robotic/include/rai/Optim/lbfgs.h

@@ -1,18 +0,0 @@
-#pragma once
-
-#include "NLP.h"
-#include "options.h"
-
-struct OptLBFGS{
-  ScalarFunction& f;
-  uint dimension;
-  arr& x;
-  rai::OptOptions opt;
-
-  OptLBFGS(arr& x, ScalarFunction& f, rai::OptOptions o=DEFAULT_OPTIONS);
-
-  std::shared_ptr<SolverReturn> solve();
-
-//private:
-  arr g;
-};