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alphaville / optimization-engine

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support
https://alphaville.github.io/optimization-engine/
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Fixed penalty stall criterion #138

Closed alphaville closed 4 years ago

alphaville commented 4 years ago

There was an issue with the penalty stall criterion (in Rust), which is fixed in this PR. Essentially, the issue affected problems with either ALM or PM constraints, but not with both. I added a couple of unit tests. This can be merged.