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