Closed bjack205 closed 4 years ago
Merging #3 into master will increase coverage by
1.74%
. The diff coverage is80.93%
.
@@ Coverage Diff @@
## master #3 +/- ##
==========================================
+ Coverage 70.22% 71.97% +1.74%
==========================================
Files 18 19 +1
Lines 927 1024 +97
==========================================
+ Hits 651 737 +86
- Misses 276 287 +11
Impacted Files | Coverage Δ | |
---|---|---|
src/Altro.jl | 100.00% <ø> (ø) |
|
src/direct/pn.jl | 85.36% <50.00%> (-2.44%) |
:arrow_down: |
src/augmented_lagrangian/al_solver.jl | 65.51% <56.25%> (-10.20%) |
:arrow_down: |
src/ilqr/ilqr.jl | 86.84% <60.00%> (-2.05%) |
:arrow_down: |
src/solvers.jl | 31.81% <62.50%> (+10.60%) |
:arrow_up: |
src/direct/pn_methods.jl | 86.30% <69.04%> (-7.87%) |
:arrow_down: |
src/ilqr/ilqr_solve.jl | 91.42% <84.21%> (-1.58%) |
:arrow_down: |
src/augmented_lagrangian/al_objective.jl | 84.61% <84.61%> (ø) |
|
src/altro/altro_solver.jl | 91.66% <86.36%> (+8.97%) |
:arrow_up: |
src/augmented_lagrangian/al_methods.jl | 85.18% <90.90%> (-9.16%) |
:arrow_down: |
... and 8 more |
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This PR "flattens" the options API and no longer exports the other solvers, making
ALTROSolver
the only solver exported. Uses a single "global" options struct, as well as single stats struct, with improved logging.Also added a multiplier projection step to the projected newton solver, allowing calculation of the gradient of the lagrangian.