Extended solver abstraction and callback for arbitrary solvers #1179
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…ral-purpose variables + improved doc
nim65s
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Jan 27, 2024
Upstream changes:
## [2.0.2] - 2023-12-07
* Added nu, ng, and nh setters for Python bindings in loco-3d/crocoddyl#1192
* Added CHANGELOG.md in loco-3d/crocoddyl#1188
* Supported nu==0 in actuation models in loco-3d/crocoddyl#1188
* Included Python bindings for Crocoddyl exceptions by cmastalli in loco-3d/crocoddyl#1186
* Updated cmake submodule update by jcarpentier in loco-3d/crocoddyl#1186
* Fixed getters for contraints bounds by skleff1994 in loco-3d/crocoddyl#1180
* Extended solver abstract and callbacks for arbitrary solvers by cmastalli in loco-3d/crocoddyl#1179
* Fixed the check of pair_id in collision residual by ArthurH91 in loco-3d/crocoddyl#1178
* Exploited control-residual structure when computing Lu, Luu by cmastalli in loco-3d/crocoddyl#1176
* Added LWA fram convention and introduced different axis for 1d contacts by skleff1994 in loco-3d/crocoddyl#1172
* Python bindings for setting control bounds by cmastalli in loco-3d/crocoddyl#1171
* Fixed missed scalar in cost sum and activation data by cmastalli in loco-3d/crocoddyl#1165
* Added actuation unit tests by cmastalli in loco-3d/crocoddyl#1161
* Introduced method for obtaining the dimension of floating-bases by cmastalli in loco-3d/crocoddyl#1160
* Fixed set_reference in state residual by cmastalli in loco-3d/crocoddyl#1158
* Enabled CONDA CI jobs with CppADCodeGen by cmastalli in loco-3d/crocoddyl#1156
* Added other CI jobs by cmastalli in loco-3d/crocoddyl#1152
* Fixed compiltation issue when building with CppADCodeGen by cmastalli in loco-3d/crocoddyl#1151
* Fixed include order used in frames.cpp by ManifoldFR in loco-3d/crocoddyl#1150
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
Jan 29, 2024
Upstream changes:
## [2.0.2] - 2023-12-07
* Added nu, ng, and nh setters for Python bindings in loco-3d/crocoddyl#1192
* Added CHANGELOG.md in loco-3d/crocoddyl#1188
* Supported nu==0 in actuation models in loco-3d/crocoddyl#1188
* Included Python bindings for Crocoddyl exceptions by cmastalli in loco-3d/crocoddyl#1186
* Updated cmake submodule update by jcarpentier in loco-3d/crocoddyl#1186
* Fixed getters for contraints bounds by skleff1994 in loco-3d/crocoddyl#1180
* Extended solver abstract and callbacks for arbitrary solvers by cmastalli in loco-3d/crocoddyl#1179
* Fixed the check of pair_id in collision residual by ArthurH91 in loco-3d/crocoddyl#1178
* Exploited control-residual structure when computing Lu, Luu by cmastalli in loco-3d/crocoddyl#1176
* Added LWA fram convention and introduced different axis for 1d contacts by skleff1994 in loco-3d/crocoddyl#1172
* Python bindings for setting control bounds by cmastalli in loco-3d/crocoddyl#1171
* Fixed missed scalar in cost sum and activation data by cmastalli in loco-3d/crocoddyl#1165
* Added actuation unit tests by cmastalli in loco-3d/crocoddyl#1161
* Introduced method for obtaining the dimension of floating-bases by cmastalli in loco-3d/crocoddyl#1160
* Fixed set_reference in state residual by cmastalli in loco-3d/crocoddyl#1158
* Enabled CONDA CI jobs with CppADCodeGen by cmastalli in loco-3d/crocoddyl#1156
* Added other CI jobs by cmastalli in loco-3d/crocoddyl#1152
* Fixed compiltation issue when building with CppADCodeGen by cmastalli in loco-3d/crocoddyl#1151
* Fixed include order used in frames.cpp by ManifoldFR in loco-3d/crocoddyl#1150
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This PR includes extra members in the solver abstraction to enable us to print relevant logs for solvers with arbitrary constraints. It also extends the verbosity levels for better user convenience. This, for instance, enables us to print the values of the merit function, and its current and expected reductions.
Moreover, this PR deprecates regularizations for the state and control. Instead, these variables are renamed to primal and dual variable regularizations.
Finally, the PR uses the new verbosity for printing logs and simplifies the display visualization of results.
In short, this effort is a small step towards my team's efforts in incorporating advanced solvers. We'll release them at a convenient time.