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add is_valid function for dense model and fix example + unittest #139

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merged 17 commits into from
Dec 14, 2022

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fabinsch
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We had timeouts in debug mode on windows because the bounds were updated in the wrong order and it took too long to reach the maximum number of iterations.

jcarpent
jcarpent previously approved these changes Dec 13, 2022
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Super nice fix. Thanks a lot @fabinsch

@fabinsch fabinsch marked this pull request as draft December 14, 2022 09:54
auto-merge was automatically disabled December 14, 2022 09:54

Pull request was converted to draft

fabinsch and others added 2 commits December 14, 2022 11:03
- H needs to be a full matrix and not only upper triangular
- C should not be only containing zeros -> lower sparsity
- set a random seed
- same is done for not-windows
- by default we have a seed
- in discussion with @Bambade: the ruiz equilibrator itself can handle H that is only the upper or triangular matrix
- the full pipeline of the dense backend needs the entire H matrix
@fabinsch fabinsch marked this pull request as ready for review December 14, 2022 17:30
@fabinsch fabinsch changed the title fix example: switch upper and lower bound in update add is_valid function for dense model and fix example + unittest Dec 14, 2022
@jcarpent jcarpent merged commit d3e4e40 into Simple-Robotics:devel Dec 14, 2022
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2 participants