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add py module

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This commit is contained in:
Valentin Leon Stöcker
2026-05-19 14:17:14 +02:00
parent 16334e4834
commit fc3ac96bf4
10 changed files with 114295 additions and 29 deletions
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tests/ellipse.cpp
+20 -13
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@@ -20,7 +20,7 @@ TEST(Ellipse, Slope) {
TEST(Ellipse, ParamGradient) {
std::vector<std::pair<double, double>> data_points = {
{-10.0, -0.001}, {0.0, 0.0}, {10, 0.0009}};
{-10.0, -0.00103}, {0.0, 0.0}, {10, 0.0009}};
Eigen::VectorX<double> params(4);
params << 100, 1000, deg2rad(1.0), 0.0;
@@ -43,30 +43,37 @@ TEST(Ellipse, ParamGradient) {
std::cout << grad << std::endl;
EXPECT_NEAR(grad(0), -2.0789313126683308e-10, 1e-15); // d/d(left_arm)
EXPECT_NEAR(grad(1), -1.7464984353858657e-12, 1e-15); // d/d(right_arm)
EXPECT_NEAR(grad(2), 1.2013025455499119e-06, 1e-15); // d/d(entrance_angle)
EXPECT_NEAR(grad(3), -2.0332702665822054e-05, 1e-15); // d/d(rotation_angle)
EXPECT_NEAR(grad(0), -3.54845114759293e-12, 1e-15); // d/d(left_arm)
EXPECT_NEAR(grad(1), -3.0016523630530093e-14, 1e-15); // d/d(right_arm)
EXPECT_NEAR(grad(2), 2.0569619167404501e-08, 1e-15); // d/d(entrance_angle)
EXPECT_NEAR(grad(3), -3.3267028547673413e-07, 1e-15); // d/d(rotation_angle)
auto hess = problem.hessian(params);
std::cout << hess << std::endl;
Eigen::VectorX<double> params_delta(4);
params_delta << 1.0, 1.0, deg2rad(0.1), deg2rad(0.1);
params_delta << 10.0, 10.0, deg2rad(0.1), deg2rad(0.1);
params(0) += 0.9; // left_arm
// log barrier
log_barrier_optimization_problem<double> log_barrier_problem(
problem,
params_delta,
1e-3);
1e-5);
auto log_barrier_grad = log_barrier_problem.gradient(params);
while (log_barrier_problem._barrier_strength > 1e-20) {
btls(log_barrier_problem);
log_barrier_problem._barrier_strength *= 1e-2;
}
std::cout << "Log barrier gradient:" << std::endl;
std::cout << log_barrier_grad << std::endl;
btls(problem);
std::cout << "Optimum params:" << std::endl;
std::cout << "left_arm: " << log_barrier_problem.x()(0) << std::endl;
std::cout << "right_arm: " << log_barrier_problem.x()(1) << std::endl;
std::cout << "entrance_angle: " << rad2deg(log_barrier_problem.x()(2)) << std::endl;
std::cout << "rotation_angle: " << rad2deg(log_barrier_problem.x()(3)) << std::endl;
std::cout << "Optimum objective:" << std::endl;
std::cout << problem.objective(problem.x()) << std::endl;
std::cout << "Optimum grad:" << std::endl;
std::cout << problem.gradient(problem.x()) << std::endl;
}