custom c++ parser and admm implementation for 3d formation gain design
replaces MATLAB codegen c++ admm implementation
better eigenvalue decomposition: with MATLAB codegen lib, noncomplete formations did not always satisfy structure constraints (i.e., [a b; -b a])
added unit tests
added latex report on 3d gain design and admm details on how to reformulate constraints
This implementation seems to be much more efficient than the codegen version. With n=9, codegen-c++ took 24 ms while custom-c++ took 6 ms. With n=20, codegen-c++ took 300 ms while custom-c++ took 37 ms. Tested in simulation on desktop i7.
[a b; -b a])This implementation seems to be much more efficient than the codegen version. With
n=9, codegen-c++ took 24 ms while custom-c++ took 6 ms. Withn=20, codegen-c++ took 300 ms while custom-c++ took 37 ms. Tested in simulation on desktop i7.