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So that's the only thing you can say so there's some method called Sequential Quadratic Programming for Task Plan Optimization 2nd iteration Take notice that we can use both grad( L) = 1*grad(f)+multiplier * tight constraints or - grad(L) = - grad(f) ... Constraint optimization problems with sequential quadratic programming method using COMxL Add-In
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Harvard AM205 video 4.10 - Sequential quadratic programming