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RoboticExplorationLab / Altro.jl

MIT License
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Flatten Options API #3

Closed bjack205 closed 4 years ago

bjack205 commented 4 years ago

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.

codecov-commenter commented 4 years ago

Codecov Report

Merging #3 into master will increase coverage by 1.74%. The diff coverage is 80.93%.

Impacted file tree graph

@@            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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