Clean up optimization interface and add nlopt solver #152
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The Ubuntu version of Travis-CI is 12.04 LTS but debian package for nlopt is not deliverd in the version.
build_warning --> message
The debian package from apt-get does not work
Minor change: - Lower xtol for nlopt solver
…ransform() Add BodyNode::fitLinearVel() and BodyNode::fitAngularVel()
When the linear velocity is being fitted, angular velocity is fixed and vice versa.
Add basic inverse kinematics functions
jslee02
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Mar 17, 2014
Renew optimizer interface and add nlopt solver
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The previous optimization solver of DART was dependent on a commercial optimization package, SNOPT. SNOPT is well-known and well-made package but open source project, DART, should provide alternative options that use open source optimization packages.
Considerable open source optimization packages are
nloptandipopt. Both packages are delivered by Ubuntu except fornloptin Ubuntu 12.04. (nloptpackages,ipoptpackages)This pull request adds only nlopt solver, and ipopt solver will be added by separate pull request later.