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Inequality Support in MATLAB/Python #165

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gchenfc opened this issue Nov 12, 2019 · 4 comments
Open

Inequality Support in MATLAB/Python #165

gchenfc opened this issue Nov 12, 2019 · 4 comments
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@gchenfc
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feature New proposed feature wrapper Related to the wrapper

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@gchenfc
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gchenfc commented Nov 12, 2019

Feature

Inequality factors and graphs support in MATLAB/Python wrappers

Motivation

Inequalities are already supported in C++, it would be great to also be supported in the wrappers.

Pitch

Many problems require inequalities such as joint limits, cable robot tensions, and many other kinematics/dynamics problems. Bringing inequalities to python would broaden the audience and useability of GTSAM for kinematics, dynamics, motion planning, etc problems.

Alternatives

Custom nonlinear factors, i.e. barrier function

Additional context
@octopuscabbage
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Could this be used for limiting velocity? I have thought that this might improve imu based navigation by allowing you to specify a max velocity that your robot could achieve.

@gchenfc
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gchenfc commented Nov 15, 2019

Yes it could!

@varunagrawal
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LinearInequality and InequalityFactorGraph are currently under gtsam_unstable. It would be great to have them working to a point where we can migrate them to the gtsam namespace. Wrapping would then be a cinch.

In the meantime, wrapping via gtsam_unstable.h should be easily doable.

@varunagrawal varunagrawal added the feature New proposed feature label Jul 7, 2020
@varunagrawal varunagrawal modified the milestone: GTSAM 4.0.3 Jul 13, 2020
@ProfFan
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ProfFan commented Jul 19, 2021

@gchenfc Friendly ping :)

@varunagrawal varunagrawal added the wrapper Related to the wrapper label Apr 2, 2022
varunagrawal added a commit to varunagrawal/gtsam that referenced this issue Mar 7, 2024
@varunagrawal
Squashed 'wrap/' changes from cdcf23207..16934a98d
c3e2ae0 
16934a98d Merge pull request borglab#165 from borglab/remove-matrix-assumptions
ff222ecf9 update DOCS.md
48232621e remove unused fixture
e60ed9f10 unit test showing better control of Vector and Matrix definitions
2559b4f95 remove special checks for Vector and Matrix, leaving the onus on the developer

git-subtree-dir: wrap
git-subtree-split: 16934a98dd1acf5c814d526603c88526ea41bdbf
varunagrawal added a commit that referenced this issue Jun 28, 2024
@varunagrawal
Squashed 'wrap/' changes from cdcf23207..38a1bfa01
5a97336 
38a1bfa01 Merge pull request #166 from borglab/pybind-update
129e81b3e fix for compiling on Clang
dcdacc833 upgrade to pybind11 v2.13.1
16934a98d Merge pull request #165 from borglab/remove-matrix-assumptions
ff222ecf9 update DOCS.md
48232621e remove unused fixture
e60ed9f10 unit test showing better control of Vector and Matrix definitions
2559b4f95 remove special checks for Vector and Matrix, leaving the onus on the developer

git-subtree-dir: wrap
git-subtree-split: 38a1bfa0123e36561104502e86f89a569873638b
@varunagrawal varunagrawal mentioned this issue Jun 28, 2024
Merged
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@varunagrawal @octopuscabbage @ProfFan @gchenfc