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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Unit testing of squared distance methods #95

Closed alphaville closed 2 years ago

alphaville commented 4 years ago

We should use the fact that the gradient of the squared distance to a closed convex set is nabla dist_C^2(x) = 2(x - P_C(x)), to write appropriate unit tests in Python.