Add FromQcqpValue (Rot2/Rot3) and ExtractQcqpValues helpers in feature/convert_to_QCQP#2548
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dellaert merged 1 commit intoMay 26, 2026
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…ct variables from the Burer–Monteiro solution. The vectorized form is not yet supported.
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D=1 will be used by Avinash to support vectorized/homogenized QCQP conversions anyway :-) |
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Yes, I have a couple of the homogenization fixes here: #2549 but still WIP |
dellaert
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Summary
Add an extract path from the rounded BM solution to the QCQP variable traits, so matrix-form QCQP values can be projected back into typed
Rot2/Rot3. Needed by the Burer–Monteiro / Riemannian Staircase solver in the follow-up PR, which returns a rank-dmatrix. A step toward type-agnostic extraction.Changes
Add
FromQcqpValueforRot2andRot3(viaRot::ClosestTo), and addExtractQcqpValuesinQcqpProblem.Notes
D = 1) is intentionally unsupported byFromQcqpValue— one column of a rotation matrix doesn't determine the rotation. Astatic_assertmakes this explicit at the call site.