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The compute of Hessian may be wrong #10
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The 1/2 won't affect the global optimum as long as it is missing (or present) for all objectives. |
When I define a class of gravity regularization, I define E like a identity matrix and f equals to -g. But the simulation shows that the robot compensates too much gravity torque. By multiplying H by 2, I solved the problem. I think 1/2 affect regularization resolution. |
It still shouldn't make any difference because the gradient is multiplied by 2 already :
0.5 x'Hx +x'g = x'Hx + 2x'g Can you post links to the relevant parts of your code? I think the problem is something more subtle. |
(Ex+f)'(Ex+f) = (x'E'Ex + 2x'E'f) = x'Hx + x'g. Therefore, this factor 2 means 2E'f = g. |
Means that In the code it's Problem ! Thanks for reporting. This is a nasty one |
Fixed in 64f5637 |
orca/src/math/WeightedEuclidianNormFunction.cc
Line 43 in 39fe1f4
For qpOASES, the problem is formulated like
Finally, we have to multiply the Hessian matrix computed in ORCA by 2 for qpOASES.
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