Comments (4)
Are you imposing these constraints using the penalty method? If so, the constraint violation can be controlled via the constraint tolerance. If you're using regular constraints, there shouldn't be any constraint violation. I'll have a look.
from optimization-engine.
@sinashm How small is the constraint violation? Can you also share the exit status of the algorithm (whether it has converged, norm of FPR, number of iterations, etc)?
from optimization-engine.
I am using:
bounds= og.constraints.Rectangle(umin,umax)
The constraint violation is quit small -5e-11
however the sign is messing with further parts
from optimization-engine.
It is safe to take a projection on the solution you're getting. The guarantees that you have is that the solution you will get has an FPR of adequately small norm. This does not mean that the solution will be feasibly, but the infeasibility is controlled by the tolerance.
In the algorithm there are two iterates: u
and u_bar
(see below). Both converge to the solution, but u_bar
is always feasible. Our implementation returns u
(which might be slightly infeasible), instead of u_bar
.
Perhaps it makes better sense to return u_bar
instead of u
. I wouldn't like to return both - this would confuse the users.
I added the following line in method solve
in panoc_optimizer.rs
and all unit tests pass:
// copy u_half_step into u
u.copy_from_slice(&self.panoc_engine.cache.u_half_step);
I need to create a test to make sure everything works. Thanks a lot for reporting this.
from optimization-engine.
Related Issues (20)
- Modify umin/umax parametrically
- Windows-style paths
- Method .with_preconditioning (default argument)
- Debugging 2000 -> Problem solution failed (solver error) HOT 10
- Slow iteration time HOT 4
- Support general rectangles with ALM and preconditioning
- API docs with sphinx
- Sphinx-proof docstrings
- ALM converging but not satisfying constraints HOT 3
- Design and imlpement OCPMaker
- Migrate to Non-Fork Repo HOT 3
- Print or log out parameter length when compiling the solver HOT 4
- Unable to run the MATLAB examples HOT 7
- An error "linking with link.exe failed: exit code: 1104" HOT 8
- An error when optimizing
- roslaunch husky_gazebo husky_empty_world.launch HOT 3
- Consider swapping to web-time from instant
- Always return best solution of inner problem
- Python support for Sphere and AffineSpace
- Additional constraints
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