Options for solve_qp. More...

#include <qp_solver.hpp>

Public Attributes
bool	verbose = false
	print solver info to stdout More...

float	alpha = 1.6f
	relaxation parameter More...

float	rho = 0.1f
	first dual step size More...

float	sigma = 1e-6f
	second dual step length More...

bool	scaling = true
	scale problem More...

float	eps_abs = 1e-3f
	absolute threshold for convergence More...

float	eps_rel = 1e-3f
	relative threshold for convergence More...

float	eps_primal_inf = 1e-4f
	threshold for primal infeasibility More...

float	eps_dual_inf = 1e-4f
	threshold for dual infeasibility More...

std::optional< uint32_t >	max_iter = {}
	max number of iterations (default no limit) More...

std::optional< std::chrono::nanoseconds >	max_time = {}
	max solution time (default no limit) More...

uint32_t	stop_check_iter = 25
	iterations between checking stopping criterion More...

bool	polish = true
	run solution polishing (uses dynamic memory) More...

uint32_t	polish_iter = 5
	number of iterations to refine polish More...

float	delta = 1e-6f
	regularization parameter for polishing More...

Detailed Description

Options for solve_qp.

Definition at line 29 of file qp_solver.hpp.

Member Data Documentation

◆ alpha

float smooth::feedback::QPSolverParams::alpha = 1.6f

relaxation parameter

Definition at line 35 of file qp_solver.hpp.

◆ delta

float smooth::feedback::QPSolverParams::delta = 1e-6f

regularization parameter for polishing

Definition at line 67 of file qp_solver.hpp.

◆ eps_abs

float smooth::feedback::QPSolverParams::eps_abs = 1e-3f

absolute threshold for convergence

Definition at line 45 of file qp_solver.hpp.

◆ eps_dual_inf

float smooth::feedback::QPSolverParams::eps_dual_inf = 1e-4f

threshold for dual infeasibility

Definition at line 51 of file qp_solver.hpp.

◆ eps_primal_inf

float smooth::feedback::QPSolverParams::eps_primal_inf = 1e-4f

threshold for primal infeasibility

Definition at line 49 of file qp_solver.hpp.

◆ eps_rel

float smooth::feedback::QPSolverParams::eps_rel = 1e-3f

relative threshold for convergence

Definition at line 47 of file qp_solver.hpp.

◆ max_iter

std::optional<uint32_t> smooth::feedback::QPSolverParams::max_iter = {}

max number of iterations (default no limit)

Definition at line 54 of file qp_solver.hpp.

◆ max_time

std::optional<std::chrono::nanoseconds> smooth::feedback::QPSolverParams::max_time = {}

max solution time (default no limit)

Definition at line 57 of file qp_solver.hpp.

◆ polish

bool smooth::feedback::QPSolverParams::polish = true

run solution polishing (uses dynamic memory)

Definition at line 63 of file qp_solver.hpp.

◆ polish_iter

uint32_t smooth::feedback::QPSolverParams::polish_iter = 5

number of iterations to refine polish

Definition at line 65 of file qp_solver.hpp.

◆ rho

float smooth::feedback::QPSolverParams::rho = 0.1f

first dual step size

Definition at line 37 of file qp_solver.hpp.

◆ scaling

bool smooth::feedback::QPSolverParams::scaling = true

scale problem

Definition at line 42 of file qp_solver.hpp.

◆ sigma

float smooth::feedback::QPSolverParams::sigma = 1e-6f

second dual step length

Definition at line 39 of file qp_solver.hpp.

◆ stop_check_iter

uint32_t smooth::feedback::QPSolverParams::stop_check_iter = 25

iterations between checking stopping criterion

Definition at line 60 of file qp_solver.hpp.

◆ verbose

bool smooth::feedback::QPSolverParams::verbose = false

print solver info to stdout

Definition at line 32 of file qp_solver.hpp.

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

include/smooth/feedback/qp_solver.hpp

Public Attributes