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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
39 stars 10 forks source link

enable 3 options for optimization #315

Closed yetongumich closed 2 years ago

yetongumich commented 2 years ago

Enable calling optimization with 3 options: unconstrained/penalty method/Augmented Lagrangian method.

During implementation, several changes are made for the constrained optimizer to work with kinematics:

Also add a flag to represent the option to add PointGoal as objective or constraint

dellaert commented 2 years ago

Let’s aim for me having doing a second review before we meet?