aligator  0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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linesearch.hpp File Reference
Include dependency graph for linesearch.hpp:

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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).
 

Detailed Description

Definition in file linesearch.hpp.