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@yetongumich you were going to merge in develop, right? |
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Pull request overview
This PR introduces a bound-constrained augmented Lagrangian optimizer and factors out the augmented Lagrangian graph construction into a reusable function, alongside a new unit test for the new optimizer.
Changes:
- Add
BoundConstrainedLagrangianoptimizer (params/state/implementation) plus a new test case. - Extract augmented-Lagrangian factor graph construction into
AugmentedLagrangianFunction(AugmentedLagrangian.h/.cpp) and refactorAugmentedLagrangianOptimizerto use it. - Minor header updates in
AugmentedLagrangianOptimizer(state fields/type alias).
Reviewed changes
Copilot reviewed 7 out of 7 changed files in this pull request and generated 15 comments.
Show a summary per file
| File | Description |
|---|---|
| gtsam/constrained/tests/testBoundConstrainedLagrangian.cpp | Adds a unit test exercising the new bound-constrained Lagrangian optimizer. |
| gtsam/constrained/BoundConstrainedLagrangian.h | Declares the new optimizer, params, and state types. |
| gtsam/constrained/BoundConstrainedLagrangian.cpp | Implements the new optimizer iteration/update logic and logging. |
| gtsam/constrained/AugmentedLagrangianOptimizer.h | Updates augmented-Lagrangian state definition and a type alias. |
| gtsam/constrained/AugmentedLagrangianOptimizer.cpp | Refactors to call the extracted AugmentedLagrangianFunction. |
| gtsam/constrained/AugmentedLagrangian.h | Declares a reusable augmented-Lagrangian factor-graph builder. |
| gtsam/constrained/AugmentedLagrangian.cpp | Implements the extracted factor-graph builder (incl. biased-factor plumbing). |
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Comment on lines
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| for (size_t i = 0; i < eqConstraints.size(); i++) { | ||
| const auto& constraint = eqConstraints.at(i); | ||
| Vector bias = lambdaEq[i] / muEq * constraint->sigmas(); | ||
| auto penalty_l2 = constraint->penaltyFactor(muEq); | ||
| graph.emplace_shared<BiasedFactor>(penalty_l2, bias); |
Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
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Add Bound constrained Lagrangian optimizer