aligator
0.10.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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Nonmonotone Linesearch algorithm. Modifies the Armijo condition with a moving average of function values. More...
#include <aligator/core/linesearch-nonmonotone.hpp>
Public Types | |
using | fun_t = std::function<Scalar(Scalar)> |
Public Member Functions | |
Scalar | run (fun_t f, Scalar phi0, Scalar dphi0, Scalar &a_opt) |
NonmonotoneLinesearch (const Options &options) | |
void | reset () |
Public Attributes | |
Scalar | avg_eta = 0.85 |
Weight for moving average. | |
Scalar | beta_dec = 0.5 |
Nonmonotone Linesearch algorithm. Modifies the Armijo condition with a moving average of function values.
This is the algorithm from Zhang and Hager, SiOpt 2004.
Definition at line 13 of file linesearch-nonmonotone.hpp.
using aligator::NonmonotoneLinesearch< Scalar >::fun_t = std::function<Scalar(Scalar)> |
Definition at line 16 of file linesearch-nonmonotone.hpp.
aligator::NonmonotoneLinesearch< Scalar >::NonmonotoneLinesearch | ( | const Options & | options | ) |
Definition at line 36 of file linesearch-nonmonotone.hpp.
Scalar aligator::NonmonotoneLinesearch< Scalar >::run | ( | fun_t | f, |
Scalar | phi0, | ||
Scalar | dphi0, | ||
Scalar & | a_opt ) |
Definition at line 40 of file linesearch-nonmonotone.hpp.
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inline |
Definition at line 21 of file linesearch-nonmonotone.hpp.
Scalar aligator::NonmonotoneLinesearch< Scalar >::avg_eta = 0.85 |
Weight for moving average.
Definition at line 27 of file linesearch-nonmonotone.hpp.
Scalar aligator::NonmonotoneLinesearch< Scalar >::beta_dec = 0.5 |
Definition at line 28 of file linesearch-nonmonotone.hpp.