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aligator
0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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#include "aligator/fwd.hpp"#include "aligator/utils/exceptions.hpp"#include "aligator/core/linesearch-base.hpp"#include <utility>Go to the source code of this file.
Namespaces | |
| namespace | aligator |
| Main package namespace. | |
Functions | |
| template<typename Scalar, typename F, typename M> | |
| ALIGATOR_INLINE std::pair< Scalar, Scalar > | aligator::fddp_goldstein_linesearch (F &&phi, M &&model, const Scalar phi0, const typename Linesearch< Scalar >::Options &ls_params, Scalar th_grad, Scalar &d1, Scalar th_accept_step=0.1, Scalar th_accept_neg_step=2.0) |
| The backtracking linesearch from FDDP (Mastalli et al). | |
Definition in file linesearch.hpp.