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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Support general rectangles with ALM and preconditioning #303

Open alphaville opened 1 year ago

alphaville commented 1 year ago

Is your feature request related to a problem? Please describe. Currently OpEn cannot apply preconditioning to ALM-type constraints when we have general rectangles. Currently the only type of constraints we support are C={0} and C=R^n_+.

Describe the solution you'd like We should support rectangles as well.

Describe alternatives you've considered We could modify F1(u; p) for the constraints to be of the form F(u; p) <= 0 (unless there is an easier alternative).

Additional context None

Target version Opengen v0.7.2