sleipnirgroup-jormungandr 0.6.7.dev82__tar.gz → 0.6.7.dev84__tar.gz
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/PKG-INFO +1 -1
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/ipm.hpp +8 -3
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/sqp.hpp +3 -1
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/src/sleipnir/__init__.py +1 -1
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/CMakeLists.txt +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/LICENSE.txt +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/README.md +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/SleipnirConfig.cmake.in +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/cmake/BuildTypes.cmake +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/cmake/CompilerFlags.cmake +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/cmake/Pybind11Mkdoc.cmake +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/cmake/Pybind11MkdocPostprocess.cmake +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/cmake/SubdirList.cmake +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/cmake/arm-none-eabi.cmake +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/autodiff/expression.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/autodiff/expression_graph.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/autodiff/expression_type.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/autodiff/gradient.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/autodiff/hessian.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/autodiff/jacobian.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/autodiff/sleipnir_base.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/autodiff/slice.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/autodiff/variable.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/autodiff/variable_block.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/autodiff/variable_matrix.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/multistart.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/ocp/dynamics_type.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/ocp/timestep_method.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/ocp/transcription_method.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/ocp.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/problem.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/exit_status.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/ipm_matrix_callbacks.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/iteration_info.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/newton.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/newton_matrix_callbacks.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/options.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/sqp_matrix_callbacks.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/all_finite.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/append_as_triplets.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/bounds.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/constraint_violation.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/dense_kkt_solver.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/feasibility_restoration.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/filter.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/fraction_to_the_boundary_rule.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/inertia.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/kkt_error.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/kkt_solver.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/problem_scaling.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/sparse_inf_norms.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/sparse_kkt_solver.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/optimization/solver/util/time_trace.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/util/assert.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/util/concepts.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/util/empty.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/util/function_ref.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/util/intrusive_shared_ptr.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/util/pool.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/util/print.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/util/print_diagnostics.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/util/scope_exit.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/util/spy.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/util/symbol_exports.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/include/sleipnir/util/time_tracer.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/pyproject.toml +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/arity.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/autodiff/bind_expression_type.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/autodiff/bind_gradient.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/autodiff/bind_hessian.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/autodiff/bind_jacobian.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/autodiff/bind_variable.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/autodiff/bind_variable_block.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/autodiff/bind_variable_matrix.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/binders.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/docstrings.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/for_each_type.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/main.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/optimization/bind_equality_constraints.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/optimization/bind_inequality_constraints.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/optimization/bind_ocp.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/optimization/bind_problem.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/optimization/ocp/bind_dynamics_type.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/optimization/ocp/bind_timestep_method.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/optimization/ocp/bind_transcription_method.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/optimization/solver/bind_exit_status.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/optimization/solver/bind_iteration_info.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/slice_tuple.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/text_wrap.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/try_cast.hpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/postprocess_stubs.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/src/sleipnir/autodiff/__init__.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/src/sleipnir/optimization/__init__.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/autodiff/gradient_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/autodiff/hessian_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/autodiff/jacobian_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/autodiff/variable_matrix_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/autodiff/variable_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/arm_on_elevator_problem_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/cart_pole_ocp_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/cart_pole_problem_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/cart_pole_util.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/constraints_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/decision_variable_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/differential_drive_ocp_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/differential_drive_problem_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/differential_drive_util.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/double_integrator_problem_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/flywheel_ocp_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/flywheel_problem_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/linear_problem_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/multistart_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/near.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/nonlinear_problem_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/problem_spy_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/quadratic_problem_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/rk4.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/solver/exit_status_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/test/optimization/trivial_problem_test.py +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/src/autodiff/gradient.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/src/autodiff/hessian.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/src/autodiff/jacobian.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/src/autodiff/variable_matrix.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/src/optimization/ocp.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/src/optimization/problem.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/src/optimization/solver/ipm.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/src/optimization/solver/newton.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/src/optimization/solver/sqp.cpp +0 -0
- {sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/src/util/pool.cpp +0 -0
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@@ -72,8 +72,11 @@ ExitStatus ipm(const IPMMatrixCallbacks<Scalar>& matrix_callbacks,
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72
72
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Eigen::Vector<Scalar, Eigen::Dynamic>& x) {
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73
73
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using DenseVector = Eigen::Vector<Scalar, Eigen::Dynamic>;
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74
74
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75
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-
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76
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-
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75
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+
// If cᵢ(x) is sufficiently feasible, start the constraint with zero
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76
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+
// violation. Otherwise, make Σ = S⁻¹Z ≈ I.
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77
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+
DenseVector c_i = matrix_callbacks.c_i(x);
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78
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+
DenseVector s = (c_i.array() >= Scalar(1e-2)).select(c_i, Scalar(1));
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79
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+
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77
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DenseVector y = DenseVector::Zero(matrix_callbacks.num_equality_constraints);
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DenseVector z =
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DenseVector::Ones(matrix_callbacks.num_inequality_constraints);
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@@ -634,7 +637,9 @@ ExitStatus ipm(const IPMMatrixCallbacks<Scalar>& matrix_callbacks,
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634
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matrices.A_i(trial_x), trial_c_i, trial_s, trial_y, trial_z, μ);
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635
638
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636
639
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// If the step using αᵐᵃˣ reduced the KKT error, accept it anyway
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637
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-
if (next_kkt_error <= Scalar(0.999) * current_kkt_error
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640
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+
if (next_kkt_error <= Scalar(0.999) * current_kkt_error &&
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641
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+
constraint_violation(trial_c_e, trial_c_i, trial_s) <=
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642
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+
filter.max_constraint_violation) {
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// Accept step
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639
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α = α_max;
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640
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break;
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@@ -444,7 +444,9 @@ ExitStatus sqp(const SQPMatrixCallbacks<Scalar>& matrix_callbacks,
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444
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matrices.g(trial_x), matrices.A_e(trial_x), trial_c_e, trial_y);
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445
445
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446
446
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// If the step using αᵐᵃˣ reduced the KKT error, accept it anyway
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447
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-
if (next_kkt_error <= Scalar(0.999) * current_kkt_error
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447
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+
if (next_kkt_error <= Scalar(0.999) * current_kkt_error &&
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448
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+
constraint_violation(trial_c_e) <=
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449
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+
filter.max_constraint_violation) {
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448
450
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// Accept step
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449
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α = α_max;
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450
452
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break;
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{sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/CMakeLists.txt
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{sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/arity.hpp
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{sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/python/cpp/main.cpp
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{sleipnirgroup_jormungandr-0.6.7.dev82 → sleipnirgroup_jormungandr-0.6.7.dev84}/src/util/pool.cpp
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