Switch to nonmonotone linesearch #244
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examples: python: change HistoryCallback() calls test_constrained_dynamics : no use for HistoryCallback() here. fix ur5_reach.py
quadrotor_obstacles: Add separate mu_init for non-bound constrained setting
- decide labels automatically - only add "AL iters" label when there are 2 iters - get legend first before adding other labels [examples] re-tune some problems, plot convergence update solo_jump.py + greatly increase joint-space weight + add spinning + flight phase target irrelevant + spin further, fix landing fn
…nv from model with projectile's nq, nv ur10_ballistic : load_projectile_model() can take free flyer or not + adjust rigid constraint model factory, pass contact type
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…lter linesearch using enum + variant Add header aligator/overloads.hpp (for overloaded lambda visitor pattern)
remove fallback for SA_LINESEARCH in Python
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This PR is finally ready for review. |
edantec
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Dec 9, 2024
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I have a few questions but otherwise the PR seems ok
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Switch to the nonmonotone linesearch
small tweak of ur10_ballistic
acrobot: change default params
HistoryCallback: pass solver pointer as argument to templated ctor
examples: python: change HistoryCallback() calls
re-tune cartpole.py
update quadrotor_obstacles.py
Add separate mu_init for non-bound constrained setting
[utils/plotting] some enhancements to plotting convergence diagrams
[examples] re-tune some problems, plot convergence
Update plotting.py again:
update solo_jump.py
solo_jump : greatly increase joint-space weight
solo_jump : add spinning
solo_jump : flight phase target irrelevant
solo_jump : spin further, fix landing fn
ur10_ballistic : load_projectile_model() can take free flyer or not
[examples] ur10_ballistic.py : sanely distinguish original model nq, nv from model with projectile's nq, nv
plotting.py : get legend first before adding other labels
ask for tighter tolerance on cartpole
quadrotor_obstacles : use the plotting util