Comments (6)
The 1/2 won't affect the global optimum as long as it is missing (or present) for all objectives.
from orca.
When I define a class of gravity regularization, I define E like a identity matrix and f equals to -g. But the simulation shows that the robot compensates too much gravity torque. By multiplying H by 2, I solved the problem. I think 1/2 affect regularization resolution.
from orca.
It still shouldn't make any difference because the gradient is multiplied by 2 already :
0.5 x'Hx +x'g = x'Hx + 2x'g
Can you post links to the relevant parts of your code? I think the problem is something more subtle.
from orca.
(Ex+f)'(Ex+f) = (x'E'Ex + 2x'E'f) = x'Hx + x'g. Therefore, this factor 2 means 2E'f = g.
https://github.com/ZzhengP/Stage_M2/blob/b4b9c2b77ed5880b013df82be87038c462ffcbb6/rtt_orca_reg.hpp#L13
from orca.
(Ex+f)'(Ex+f)
= (x'E'Ex + 2x'E'f)
and
0.5 x'Hx +x'g = x'Hx + 2x'g
Means that
H = E'E
and
E'f = g
In the code it's 2E'f = g
Problem ! Thanks for reporting. This is a nasty one
from orca.
Fixed in 64f5637
Thanks !
from orca.
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