aligator  0.15.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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aligator::SolverProxDDPTpl< _Scalar >::LinesearchVariant Struct Reference

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

Public Types

using VariantType
 

Public Member Functions

Scalar run (const std::function< Scalar(Scalar)> &fun, const Scalar phi0, const Scalar dphi0, Scalar &alpha_try)
 
void reset ()
 
bool isValid () const
 
 operator const VariantType & () const
 

Detailed Description

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

Definition at line 51 of file solver-proxddp.hpp.

Member Typedef Documentation

◆ VariantType

template<typename _Scalar>
using aligator::SolverProxDDPTpl< _Scalar >::LinesearchVariant::VariantType
Initial value:
std::variant<std::monostate, ArmijoLinesearch<Scalar>,
Nonmonotone Linesearch algorithm. Modifies the Armijo condition with a moving average of function val...

Definition at line 52 of file solver-proxddp.hpp.

Member Function Documentation

◆ run()

template<typename _Scalar>
Scalar aligator::SolverProxDDPTpl< _Scalar >::LinesearchVariant::run ( const std::function< Scalar(Scalar)> & fun,
const Scalar phi0,
const Scalar dphi0,
Scalar & alpha_try )
inline

Definition at line 55 of file solver-proxddp.hpp.

◆ reset()

template<typename _Scalar>
void aligator::SolverProxDDPTpl< _Scalar >::LinesearchVariant::reset ( )
inline

Definition at line 67 of file solver-proxddp.hpp.

◆ isValid()

template<typename _Scalar>
bool aligator::SolverProxDDPTpl< _Scalar >::LinesearchVariant::isValid ( ) const
inline

Definition at line 73 of file solver-proxddp.hpp.

◆ operator const VariantType &()

template<typename _Scalar>
aligator::SolverProxDDPTpl< _Scalar >::LinesearchVariant::operator const VariantType & ( ) const
inline

Definition at line 75 of file solver-proxddp.hpp.


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