Formatting

_scripts/run_other_study.py

@@ -13,7 +13,8 @@
 DEBUG = False
 
 RESULTS_DIR = "_results"
-#RESULTS_DIR = "_results_server"
+# RESULTS_DIR = "_results_server"
+
 
 def lifter_tightness(
     Lifter=MonoLifter, robust: bool = False, d: int = 2, n_landmarks=4, n_outliers=0

examples/robust_lifter.py

@@ -13,13 +13,20 @@ def get_problem(robust=True):
     # Create lifter
     np.random.seed(0)
     n_landmarks = 4
-    d= 3
+    d = 3
     if robust:
         n_outliers = 1
     else:
         n_outliers = 0
 
-    lifter = Lifter(d=d, n_landmarks=n_landmarks+n_outliers, robust=robust, n_outliers=n_outliers, level=level, variable_list=None)
+    lifter = Lifter(
+        d=d,
+        n_landmarks=n_landmarks + n_outliers,
+        robust=robust,
+        n_outliers=n_outliers,
+        level=level,
+        variable_list=None,
+    )
     Q, y = lifter.get_Q()
 
     from auto_template.learner import Learner
@@ -71,4 +78,4 @@ def plot_problem(prob, lifter, fname=""):
         prob, lifter = get_problem(robust=robust)
         fname = f"certifiable-tools/_examples/test_prob_{number}G.pkl"
         save_test_problem(**prob, fname=fname)
-        #plot_problem(prob, lifter, fname=fname.replace(".pkl", ".png"))
+        # plot_problem(prob, lifter, fname=fname.replace(".pkl", ".png"))

lifters/state_lifter.py

@@ -4,11 +4,11 @@
 import numpy as np
 import scipy.sparse as sp
 from cert_tools.linalg_tools import get_nullspace
-
 from lifters.base_class import BaseClass
-from poly_matrix import PolyMatrix, unroll
 from utils.common import upper_triangular
 
+from poly_matrix import PolyMatrix, unroll
+
 
 def ravel_multi_index_triu(index_tuple, shape):
     """Equivalent of np.multi_index_triu, but using only the upper-triangular part of matrix."""

lifters/stereo_lifter.py

@@ -50,8 +50,8 @@ class StereoLifter(StateLifter, ABC):
         ["h", "x"],
         ["h", "z_0"],
         ["h", "x", "z_0"],
-        ["h", "z_0", "z_1"], # should achieve tightness here
-        # ["h", "x", "z_0", "z_1"],  
+        ["h", "z_0", "z_1"],  # should achieve tightness here
+        # ["h", "x", "z_0", "z_1"],
         # ["h", "z_0", "z_1", "z_2"],
     ]
 

lifters/wahba_lifter.py

@@ -83,17 +83,17 @@ def get_Q(self, noise: float = None):
 
     def get_Q_from_y(self, y):
         """
-                every cost term can be written as
-                (1 + wi)/b^2  r^2(x, zi) + (1 - wi)
-
-                residual term:
-                (Rpi + t - ui).T Wi (Rpi + t - ui) =
-                [t', vec(R)'] @ [I (pi x I)]' @ Wi @ [I (pi x I)] @ [t ; vec(R)]
-                ------x'-----   -----Pi'-----
-                - 2 [t', vec(R)'] @ [I (pi x I)]' Wi @ ui
-                    -----x'------   ---------Pi_xl--------
-                + ui.T @ Wi @ ui
-                -----Pi_ll------
+        every cost term can be written as
+        (1 + wi)/b^2  r^2(x, zi) + (1 - wi)
+
+        residual term:
+        (Rpi + t - ui).T Wi (Rpi + t - ui) =
+        [t', vec(R)'] @ [I (pi x I)]' @ Wi @ [I (pi x I)] @ [t ; vec(R)]
+        ------x'-----   -----Pi'-----
+        - 2 [t', vec(R)'] @ [I (pi x I)]' Wi @ ui
+            -----x'------   ---------Pi_xl--------
+        + ui.T @ Wi @ ui
+        -----Pi_ll------
         """
         from poly_matrix.poly_matrix import PolyMatrix
 
@@ -107,9 +107,9 @@ def get_Q_from_y(self, y):
             ui = y[i]
             Pi = np.c_[np.eye(self.d), np.kron(pi, np.eye(self.d))]
 
-            Pi_ll = ui.T @ Wi @ ui 
-            Pi_xl = -(Pi.T @ Wi @ ui)[:, None] 
-            Qi = Pi.T @ Wi @ Pi 
+            Pi_ll = ui.T @ Wi @ ui
+            Pi_xl = -(Pi.T @ Wi @ ui)[:, None]
+            Qi = Pi.T @ Wi @ Pi
             if NORMALIZE:
                 Pi_ll /= norm
                 Pi_xl /= norm

solvers/common.py

@@ -214,7 +214,6 @@ def solve_sdp_cvxpy(
     return X, info
 
 
-
 def solve_sdp_cvxpy_new(
     Q,
     A_b_list,