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Resolve "Implement More Thuente line search"

Zozen Ke requested to merge zozen/AutowareAuto:308-More-Thuente-line-search into master

Description

  • Added implementation of More-Thuente line search as discussed in #308 (closed) with @christopher.ho and unit tests (standalone and with Newton method).
  • Also optimized FixedLineSearch to not force larger step sizes than the initial estimate by the Optimizer (might fix the difficulty of finding an appropriate step size reported by @cvasfi).

Notes for Reviewer

  • Currently the default values are set according to generic NDT requirements, but perhaps there should be a LineSearchOptions class hierarchy, which also enforces constraints?

Checklist

  • Documentation was updated

Closes #308 (closed)

Edited by Zozen Ke

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