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Clean up optimization interface and add nlopt solver #152

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merged 37 commits into from
Mar 17, 2014
Merged

Clean up optimization interface and add nlopt solver #152

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9a43935
Add nlopt optimizer
jslee02 Mar 14, 2014
12f58c0
Add nlopt dependency setting for CPACK, Travis-CI, and debian packaging
jslee02 Mar 14, 2014
0fa16ea
Build and install nlopt from source in Travis-CI test
jslee02 Mar 14, 2014
8fedb36
Try to build nlopt in Travis-CI
jslee02 Mar 14, 2014
8660235
Add reference for the optimization example problem
jslee02 Mar 14, 2014
6e41322
Try to build nlopt in Travis-CI
jslee02 Mar 14, 2014
f8b54cd
Try to build nlopt in Travis-CI
jslee02 Mar 14, 2014
18bb648
Try to build nlopt in Travis-CI
jslee02 Mar 14, 2014
08ffada
Remove custom cmake keyword
jslee02 Mar 14, 2014
39873a5
Add -fPIC build option for nlopt
jslee02 Mar 14, 2014
5132e8b
Add -fPIC build option to CPPLAGS for nlopt
jslee02 Mar 14, 2014
a89718a
Fix make command for nlopt
jslee02 Mar 14, 2014
b64431c
Fix make command for nlopt
jslee02 Mar 14, 2014
cb7f3d4
Update Changelog.md
jslee02 Mar 14, 2014
5ce291f
Modify optimization interface to be more general
jslee02 Mar 15, 2014
1f9134d
Add initial implementation for `ipopt` solver
jslee02 Mar 15, 2014
8f26bde
Install coinor-libipopt-dev in Travis-CI test
jslee02 Mar 15, 2014
0219af6
Rollback installing coinor-libipopt-dev in Travis-CI test
jslee02 Mar 15, 2014
f3809dd
Add reference to issue #153 for ipopt test
jslee02 Mar 15, 2014
cd1c4df
Fix style and add copyright to testForwardKinematics.cpp
jslee02 Mar 15, 2014
5a96e85
Fix style and add some comment for Skeleton
jslee02 Mar 15, 2014
68aba47
Include nlopt to core dependencies
jslee02 Mar 16, 2014
d46b760
evalGradient() and evalHessian() are not pure virtual functions
jslee02 Mar 16, 2014
a8e8fd2
Add basic inverse kinematics solver using optimization
jslee02 Mar 16, 2014
3eca24f
Include nlopt to core dependencies (fix CMakeLists.txt)
jslee02 Mar 16, 2014
0c27325
Add initial guess for solving inverse kinematics
jslee02 Mar 16, 2014
8f6c130
Rename: ObjFuncTramsfDis --> InvKinObjFunc
jslee02 Mar 16, 2014
fe3d1eb
Fix testInverseKinematics by changing nlopt solver option
jslee02 Mar 16, 2014
5c8c91b
Update Changelog.md and Migration.md
jslee02 Mar 16, 2014
692d7e7
Move and rename from Skeleton::solveInvKinematics() to BodyNode::fitT…
jslee02 Mar 17, 2014
41af2f5
Update Changelog.md
jslee02 Mar 17, 2014
d9129a2
Fix compile error in debug mode
jslee02 Mar 17, 2014
9de9efc
Fix BodyNode::fitWorldLinearVel() and BodyNode::fitWorldAngularVel()
jslee02 Mar 17, 2014
3c87d72
Better naming for functions and variables of optimizer
jslee02 Mar 17, 2014
da8c096
Merge pull request #154 from dartsim/inverse_kinematics
jslee02 Mar 17, 2014
3c48d66
Update Changelog.md and Migration.md
jslee02 Mar 17, 2014
24c66f2
Update Migration.md
jslee02 Mar 17, 2014
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Update Changelog.md and Migration.md
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@jslee02
jslee02 committed Mar 17, 2014
commit 3c48d66a3329d62d50f4680cf2db7905b60c9cf4
4 changes: 2 additions & 2 deletions Changelog.md
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Expand Up @@ -2,7 +2,7 @@

### DART 4.0.0 (2014-0X-XX)

1. Added optimization solver for nonlinear program using nlopt
1. Renewed optimizer interface and added nlopt solver
* [Pull request #152](https://github.com/dartsim/dart/pull/152)
1. Added inverse kinematics for BodyNode
1. Added basic inverse kinematics functions
* [Pull request #154](https://github.com/dartsim/dart/pull/154)
2 changes: 0 additions & 2 deletions Migration.md
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Expand Up @@ -25,8 +25,6 @@

1. **dart/optimizer/nlopt/NloptSolver.h**

1. **dart/optimizer/ipopt/IpoptSolver.h**

### Deletions