Fix review comments: logic error and spelling corrections

Co-authored-by: dellaert <10515273+dellaert@users.noreply.github.com>

Author: Copilot

gtdynamics/constrained_optimizer/ConstrainedOptProblem.cpp

@@ -77,7 +77,7 @@ EConsOptProblem IEConsOptProblem::auxiliaryProblem() const {
       Key aux_key1 = AuxilaryKey(k++);
       aux_constraints.emplace_back(CreateAuxiliaryConstraint(p1, aux_key1));
       aux_values.insert(aux_key1, ComputeAuxiliaryValue(p1, values_));
-      DoubleExpressionInequality::shared_ptr p2 = p->constraint1();
+      DoubleExpressionInequality::shared_ptr p2 = p->constraint2();
       Key aux_key2 = AuxilaryKey(k++);
       aux_constraints.emplace_back(CreateAuxiliaryConstraint(p2, aux_key2));
       aux_values.insert(aux_key2, ComputeAuxiliaryValue(p2, values_));

gtdynamics/constrained_optimizer/ConstrainedOptProblem.h

@@ -88,7 +88,7 @@ struct IEConsOptProblem : public EConsOptProblem {
     return i_constraints_.evaluateViolationL2Norm(values);
   }
 
-  /// Equivalent equality-constrained optimization probelm with auxiliary
+  /// Equivalent equality-constrained optimization problem with auxiliary
   /// variables z. Inequality constraints g(x)>=0 are transformed into equality
   /// constraints g(x)-z^2=0.
   EConsOptProblem auxiliaryProblem() const;

gtdynamics/constrained_optimizer/ConstrainedOptimizer.h

@@ -65,7 +65,7 @@ class ConstrainedOptimizer {
    * only.
    *
    * @param graph A Nonlinear factor graph representing cost.
-   * @param cosntraints All the constraints.
+   * @param constraints All the constraints.
    * @param initial_values Initial values for all variables.
    * @return Values The result of the constrained optimization.
    */
@@ -81,7 +81,7 @@ class ConstrainedOptimizer {
    * inequality constraints.
    *
    * @param graph A Nonlinear factor graph representing cost.
-   * @param e_cosntraints All the nonlinear equality constraints.
+   * @param e_constraints All the nonlinear equality constraints.
    * @param i_constraints All the nonlinear inequality constraints.
    * @param initial_values Initial values for all variables.
    * @return Values The result of the constrained optimization.

gtdynamics/manifold/ManifoldOptimizerType1.h

@@ -97,9 +97,9 @@ class ManifoldOptimizerType1 : public ManifoldOptimizer {
                     const Values& nopt_values) const;
 
  protected:
-  /** Create values for the manifold optimization probelm by (1) create
+  /** Create values for the manifold optimization problem by (1) create
    * constraint manifolds for constraint-connected components; (2) identify if
-   * the cosntraint manifold is fully constrained; (3) collect unconstrained
+   * the constraint manifold is fully constrained; (3) collect unconstrained
    * variables.
    */
   void constructMoptValues(const EConsOptProblem& ecopt_problem,

gtdynamics/manifold/MultiJacobian.cpp

@@ -38,14 +38,14 @@ MultiJacobian MultiJacobian::VerticalStack(const MultiJacobian &jac1,
 
   MultiJacobian jac;
   for (const auto &[key, matrix] : jac1) {
-    Matrix expaned_mat(dim, matrix.cols());
-    expaned_mat << matrix, Matrix::Zero(dim2, matrix.cols());
-    jac.addJacobian(key, expaned_mat);
+    Matrix expanded_mat(dim, matrix.cols());
+    expanded_mat << matrix, Matrix::Zero(dim2, matrix.cols());
+    jac.addJacobian(key, expanded_mat);
   }
   for (const auto &[key, matrix] : jac2) {
-    Matrix expaned_mat(dim, matrix.cols());
-    expaned_mat << Matrix::Zero(dim1, matrix.cols()), matrix;
-    jac.addJacobian(key, expaned_mat);
+    Matrix expanded_mat(dim, matrix.cols());
+    expanded_mat << Matrix::Zero(dim1, matrix.cols()), matrix;
+    jac.addJacobian(key, expanded_mat);
   }
   return jac;
 }

gtdynamics/optimizer/ConvexIQPSolver.cpp

@@ -202,7 +202,7 @@ SolveConvexIQP(const GaussianFactorGraph &cost,
         // all constraints are tight
         return {x_new, active_indices, num_solves, true};
       } else {
-        // can relieve constriant
+        // can relieve constraint
         active_indices.erase(min_idx);
         if (num_solves > max_iters) {
           std::cout << "min_lambda: " << min_lambda << "\n";

gtdynamics/optimizer/ConvexIQPSolver.h

@@ -27,11 +27,11 @@ using gtsam::VectorValues;
 
 /** Solve a convex inequality constrained QP problem defined in
  * Nocedal Sec. 16.5 using the algorithm in Nocedal Alg. 16.3.
- * @param graph Cost for IQP probelm.
+ * @param graph Cost for IQP problem.
  * @param constraints Linear inequality constraints of IQP problem.
  * @param init_active_indices Initial indices of inequality constraints.
  * @param init_values Initial values for optimization.
- * @return [solution vector, active constriant indices, num solves, solve
+ * @return [solution vector, active constraint indices, num solves, solve
  * successful]. */
 std::tuple<VectorValues, IndexSet, size_t, bool>
 SolveConvexIQP(const GaussianFactorGraph &graph,