Settings of solvers. More...

#include <solver_settings.hpp>

Public Member Functions
void	disp (std::ostream &os) const

Public Attributes
size_t	max_iter = 100
	Maximum number of iterations of the ZeroHorizonOCPSolver method. Has nothing to do with SingleShootingCGMRESSolver or MultipleShootingCGMRESSolver. Default value is 100. More...

Scalar	opterr_tol = 1.0e-04
	Termination criterion of the ZeroHorizonOCPSolver method. Has nothing to do with SingleShootingCGMRESSolver or MultipleShootingCGMRESSolver. Must be non-negative. Default value is 1.0e-04. More...

Scalar	finite_difference_epsilon = 1.0e-08
	Epsilon of the finite difference approximation. Must be positive. Default value is 1.0e-08. More...

Scalar	sampling_time = 0.001
	The sampling time of MPC and used in SingleShootingCGMRESSolver and MultipleShootingCGMRESSolver. Has nothing to do with ZeroHorizonOCPSolver. Must be positive. Default is 0.001. More...

Scalar	zeta = 1000.0
	The stabilization parameter of the continuation method. Typical value is the reciprocal of SolverSettings::sampling_time (sampling period of MPC). Used in SingleShootingCGMRESSolver and MultipleShootingCGMRESSolver. Has nothing to do with ZeroHorizonOCPSolver. Must be positive. Default is 1000.0. More...

Scalar	min_dummy = 1.0e-03
	The minimum value of the dummy inputs. Mainly used in MultipleShootingCGMRESSolver. In SingleShootingCGMRESSolver and ZeroHorizonOCPSolver, this value is used only in SingleShootingCGMRESSolver::init_dummy_mu() and ZeroHorizonOCPSolver::init_dummy_mu(). Must be non-negaive. Default is 1.0e-03. More...

size_t	verbose_level = 0
	Verbose level. 0: no printings. 1-2: print some things. Default is 0. More...

bool	profile_solver = true
	If true, a solver profile is taken. More...

Friends
std::ostream &	operator<< (std::ostream &os, const SolverSettings &settings)

Detailed Description

Settings of solvers.

Member Function Documentation

◆ disp()

void cgmres::SolverSettings::disp ( std::ostream & os ) const

inline

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const SolverSettings &	settings
	)

friend

Member Data Documentation

◆ finite_difference_epsilon

Scalar cgmres::SolverSettings::finite_difference_epsilon = 1.0e-08

Epsilon of the finite difference approximation. Must be positive. Default value is 1.0e-08.

◆ max_iter

size_t cgmres::SolverSettings::max_iter = 100

Maximum number of iterations of the ZeroHorizonOCPSolver method. Has nothing to do with SingleShootingCGMRESSolver or MultipleShootingCGMRESSolver. Default value is 100.

◆ min_dummy

Scalar cgmres::SolverSettings::min_dummy = 1.0e-03

The minimum value of the dummy inputs. Mainly used in MultipleShootingCGMRESSolver. In SingleShootingCGMRESSolver and ZeroHorizonOCPSolver, this value is used only in SingleShootingCGMRESSolver::init_dummy_mu() and ZeroHorizonOCPSolver::init_dummy_mu(). Must be non-negaive. Default is 1.0e-03.

◆ opterr_tol

Scalar cgmres::SolverSettings::opterr_tol = 1.0e-04

Termination criterion of the ZeroHorizonOCPSolver method. Has nothing to do with SingleShootingCGMRESSolver or MultipleShootingCGMRESSolver. Must be non-negative. Default value is 1.0e-04.

◆ profile_solver

bool cgmres::SolverSettings::profile_solver = true

If true, a solver profile is taken.

◆ sampling_time

Scalar cgmres::SolverSettings::sampling_time = 0.001

The sampling time of MPC and used in SingleShootingCGMRESSolver and MultipleShootingCGMRESSolver. Has nothing to do with ZeroHorizonOCPSolver. Must be positive. Default is 0.001.

◆ verbose_level

size_t cgmres::SolverSettings::verbose_level = 0

Verbose level. 0: no printings. 1-2: print some things. Default is 0.

◆ zeta

Scalar cgmres::SolverSettings::zeta = 1000.0

The stabilization parameter of the continuation method. Typical value is the reciprocal of SolverSettings::sampling_time (sampling period of MPC). Used in SingleShootingCGMRESSolver and MultipleShootingCGMRESSolver. Has nothing to do with ZeroHorizonOCPSolver. Must be positive. Default is 1000.0.

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

/github/workspace/include/cgmres/solver_settings.hpp

Public Member Functions

Public Attributes

Friends