Merge branch 'feature/al_definition' of bitbucket.org:leggedrobotics/ocs2_dev into feature/al_definition

farbod-farshidian · farbod-farshidian · commit bbc0312d51c5 · 2022-07-19T11:19:45.000+02:00
diff --git a/ocs2_core/include/ocs2_core/penalties/augmented/ModifiedRelaxedBarrierPenalty.h b/ocs2_core/include/ocs2_core/penalties/augmented/ModifiedRelaxedBarrierPenalty.h
@@ -43,6 +43,8 @@ namespace augmented {
  *  \f]
  *
  *  where \f$ \pho \f$ is the scale. \f$ \psi(.) \f$ is defined as a shifted quadratically-relaxed log barrier function.
+ *  Unlike the relaxed log barrier penalty, this function is defined over the domain \f$ x > -1 \f$. Therefore, the value of the
+ *  relaxation parameter has to also belong to this domain.
  *
  *  This is then minimized by the solver, while the maximization of the approximate dual function is done by updating the Lagrange
  *  multipliers with the following update rule:

Original file line number	Diff line number	Diff line change
`@@ -43,6 +43,8 @@ namespace augmented {`
`43`	`43`	`* \f]`
`44`	`44`	`*`
`45`	`45`	`* where \f$ \pho \f$ is the scale. \f$ \psi(.) \f$ is defined as a shifted quadratically-relaxed log barrier function.`
	`46`	`+ * Unlike the relaxed log barrier penalty, this function is defined over the domain \f$ x > -1 \f$. Therefore, the value of the`
	`47`	`+ * relaxation parameter has to also belong to this domain.`
`46`	`48`	`*`
`47`	`49`	`* This is then minimized by the solver, while the maximization of the approximate dual function is done by updating the Lagrange`
`48`	`50`	`* multipliers with the following update rule:`