aligator::SolverProxDDPTpl< _Scalar >::AlmParams Struct Reference

#include <aligator/solvers/proxddp/solver-proxddp.hpp>

Collaboration diagram for aligator::SolverProxDDPTpl< _Scalar >::AlmParams:

Public Attributes
Scalar	prim_alpha = 0.1
	Log-factor \(\alpha_\eta\) for primal tolerance (failure)
Scalar	prim_beta = 0.9
	Log-factor \(\beta_\eta\) for primal tolerance (success)
Scalar	dual_alpha = 1.
	Log-factor \(\alpha_\eta\) for dual tolerance (failure)
Scalar	dual_beta = 1.
	Log-factor \(\beta_\eta\) for dual tolerance (success)
Scalar	mu_update_factor = 0.01
	Scale factor for the dual proximal penalty.
Scalar	dyn_al_scale = 1e-3
	Constraints AL scaling.
Scalar	mu_lower_bound = 1e-8
	Lower bound on AL parameter.

Detailed Description

template<typename _Scalar>
struct aligator::SolverProxDDPTpl< _Scalar >::AlmParams

Definition at line 56 of file solver-proxddp.hpp.

Member Data Documentation

prim_alpha

template<typename _Scalar >

Scalar aligator::SolverProxDDPTpl< _Scalar >::AlmParams::prim_alpha = 0.1

Log-factor \(\alpha_\eta\) for primal tolerance (failure)

Definition at line 58 of file solver-proxddp.hpp.

prim_beta

template<typename _Scalar >

Scalar aligator::SolverProxDDPTpl< _Scalar >::AlmParams::prim_beta = 0.9

Log-factor \(\beta_\eta\) for primal tolerance (success)

Definition at line 60 of file solver-proxddp.hpp.

dual_alpha

template<typename _Scalar >

Scalar aligator::SolverProxDDPTpl< _Scalar >::AlmParams::dual_alpha = 1.

Log-factor \(\alpha_\eta\) for dual tolerance (failure)

Definition at line 62 of file solver-proxddp.hpp.

dual_beta

template<typename _Scalar >

Scalar aligator::SolverProxDDPTpl< _Scalar >::AlmParams::dual_beta = 1.

Log-factor \(\beta_\eta\) for dual tolerance (success)

Definition at line 64 of file solver-proxddp.hpp.

mu_update_factor

template<typename _Scalar >

Scalar aligator::SolverProxDDPTpl< _Scalar >::AlmParams::mu_update_factor = 0.01

Scale factor for the dual proximal penalty.

Definition at line 66 of file solver-proxddp.hpp.

dyn_al_scale

template<typename _Scalar >

Scalar aligator::SolverProxDDPTpl< _Scalar >::AlmParams::dyn_al_scale = 1e-3

Constraints AL scaling.

Definition at line 68 of file solver-proxddp.hpp.

mu_lower_bound

template<typename _Scalar >

Scalar aligator::SolverProxDDPTpl< _Scalar >::AlmParams::mu_lower_bound = 1e-8

Lower bound on AL parameter.

Definition at line 70 of file solver-proxddp.hpp.

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

• include/aligator/solvers/proxddp/solver-proxddp.hpp