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Add infeasibility solving feature for dense and sparse backends #241

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merged 6 commits into from
Jul 1, 2023

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Bambade
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@Bambade Bambade commented Jun 30, 2023

Add a feature for solving closest feasible problem (in L_2 sense) if the original problem is detected as being primal infeasible.

The feature is available for dense and sparse backends with a boolean option in the Settings subclass.
The optimal shifts (making the original problem primal feasible) are available as new results variables in the Results subclass.

The whole feature is documented and unit tested in C++ and python.

Bambade and others added 3 commits June 30, 2023 16:39
Co-authored-by: Justin Carpentier <justin.carpentier@inria.fr>
Co-authored-by: Justin Carpentier <justin.carpentier@inria.fr>
Co-authored-by: Justin Carpentier <justin.carpentier@inria.fr>
@jcarpent jcarpent enabled auto-merge July 1, 2023 09:59
@jcarpent jcarpent merged commit 42578ad into Simple-Robotics:devel Jul 1, 2023
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2 participants