aligator
0.10.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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#include "aligator/macros.hpp"
#include "aligator/utils/exceptions.hpp"
#include "aligator/core/linesearch.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.