line_search_filter.hpp

Go to the documentation of this file.

#ifndef ROBOTOC_LINE_SEARCH_FILTER_HPP_
#define ROBOTOC_LINE_SEARCH_FILTER_HPP_
 
#include <vector>
#include <utility>
 
 
namespace robotoc {
 
class LineSearchFilter {
public:
  LineSearchFilter(const double cost_reduction_rate=0.005, 
                   const double constraint_violation_reduction_rate=0.005);
 
  ~LineSearchFilter() = default;
 
  LineSearchFilter(const LineSearchFilter&) = default;
 
  LineSearchFilter& operator=(const LineSearchFilter&) = default;
 
  LineSearchFilter(LineSearchFilter&&) noexcept = default;
 
  LineSearchFilter& operator=(LineSearchFilter&&) noexcept = default;
 
  bool isAccepted(const double cost, const double constraint_violation) const;
 
  void augment(const double cost, const double constraint_violation);
 
  void clear();
 
  bool isEmpty() const;
 
private:
  std::vector<std::pair<double, double>> filter_;
  double cost_reduction_rate_, constraint_violation_reduction_rate_;
 
};
 
} // namespace robotoc
 
 
#endif // ROBOTOC_LINE_SEARCH_FILTER_HPP_