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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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Fix norm 1 crash in PANOC #222

Closed korken89 closed 3 years ago

korken89 commented 3 years ago

If the Lipschitz constant was estimated to 0 at init, the solver would get NaN as gamma, causing failure. Now gamma is estimated using the current cost and gradient, which in limited experiments seems to be an acceptable heuristic.

The heuristic is only applied if the Lipschitz constant was estimated to 0.

alphaville commented 3 years ago

Thank you, @korken89. I'll have a look.

alphaville commented 3 years ago

Clippy gives some minor warnings, but returns an error. However, cargo build and cargo test work just fine.

alphaville commented 3 years ago

Clippy errors are now fixed. New error: RuntimeError: Python version >= 3.7 required.

alphaville commented 3 years ago

There's a strange issue on Trusty: Couldn't find index page for 'retry'. It works on Xenial and OSX, though. Since we'll be moving to GA soon, I'll remove Trusty from Travis so that we can merge this.