nmpc_ddp::BoxQP< VarDim >::Configuration Struct Reference

Configuration. More...

#include <BoxQP.h>

Public Attributes
int	print_level = 1
	Print level (0: no print, 1: print only important, 2: print verbose, 3: print very verbose) More...
int	max_iter = 500
	Maximum iteration of optimization loop. More...
double	grad_thre = 1e-8
	Termination threshold of non-fixed gradient. More...
double	rel_improve_thre = 1e-8
	Termination threshold of relative improvement. More...
double	step_factor = 0.6
	Factor for decreasing stepsize. More...
double	min_step = 1e-22
	Minimum stepsize for linesearch. More...
double	armijo_param = 0.1
	Armijo parameter (fraction of linear improvement required) More...

Detailed Description

template<int VarDim>
struct nmpc_ddp::BoxQP< VarDim >::Configuration

Configuration.

Definition at line 33 of file BoxQP.h.

Member Data Documentation

armijo_param

template<int VarDim>

double nmpc_ddp::BoxQP< VarDim >::Configuration::armijo_param = 0.1

Armijo parameter (fraction of linear improvement required)

Definition at line 54 of file BoxQP.h.

grad_thre

template<int VarDim>

double nmpc_ddp::BoxQP< VarDim >::Configuration::grad_thre = 1e-8

Termination threshold of non-fixed gradient.

Definition at line 42 of file BoxQP.h.

max_iter

template<int VarDim>

int nmpc_ddp::BoxQP< VarDim >::Configuration::max_iter = 500

Maximum iteration of optimization loop.

Definition at line 39 of file BoxQP.h.

min_step

template<int VarDim>

double nmpc_ddp::BoxQP< VarDim >::Configuration::min_step = 1e-22

Minimum stepsize for linesearch.

Definition at line 51 of file BoxQP.h.

print_level

template<int VarDim>

int nmpc_ddp::BoxQP< VarDim >::Configuration::print_level = 1

Print level (0: no print, 1: print only important, 2: print verbose, 3: print very verbose)

Definition at line 36 of file BoxQP.h.

rel_improve_thre

template<int VarDim>

double nmpc_ddp::BoxQP< VarDim >::Configuration::rel_improve_thre = 1e-8

Termination threshold of relative improvement.

Definition at line 45 of file BoxQP.h.

step_factor

template<int VarDim>

double nmpc_ddp::BoxQP< VarDim >::Configuration::step_factor = 0.6

Factor for decreasing stepsize.

Definition at line 48 of file BoxQP.h.

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The documentation for this struct was generated from the following file:

• /home/runner/work/NMPC/NMPC/catkin_ws/src/NMPC/nmpc_ddp/include/nmpc_ddp/BoxQP.h