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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
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add constrained optimizers #293

Closed yetongumich closed 2 years ago

yetongumich commented 2 years ago

This PR adds the Penalty Method optimizer and Augmented Lagrangian method optimizer, with tests on the example constrained problem from Vandenberghe20Slide_ECNLS.