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Formulate constraints as L2 and Huber penalties in Python #980

Merged
merged 16 commits into from
Oct 26, 2023
Merged

Formulate constraints as L2 and Huber penalties in Python #980

merged 16 commits into from
Oct 26, 2023

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FreyJo
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@FreyJo FreyJo commented Oct 25, 2023 •
edited

Added functions to AcadosOcp:

  • formulate_constraint_as_L2_penalty
  • formulate_constraint_as_Huber_penalty
  • translate_nls_cost_to_conl

Added test_polynomial_controls_and_penalties

@FreyJo FreyJo changed the title Wip penalties Work on formulating constraints as penalties in Python (Huber + L2) Oct 26, 2023
@FreyJo FreyJo changed the title Work on formulating constraints as penalties in Python (Huber + L2) Work on formulating constraints as L2 and Huber penalties in Python Oct 26, 2023
@FreyJo FreyJo changed the title Work on formulating constraints as L2 and Huber penalties in Python Formulate constraints as L2 and Huber penalties in Python Oct 26, 2023
sandmaennchen
sandmaennchen approved these changes Oct 26, 2023
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interfaces/acados_template/acados_template/acados_ocp.py Outdated Show resolved Hide resolved
@FreyJo FreyJo merged commit 62933a3 into acados:master Oct 26, 2023
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@FreyJo FreyJo deleted the wip_penalties branch October 26, 2023 15:24
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@sandmaennchen sandmaennchen sandmaennchen approved these changes

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@FreyJo @sandmaennchen