solver_options.hpp

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#ifndef ROBOTOC_SOLVER_OPTIONS_HPP_
#define ROBOTOC_SOLVER_OPTIONS_HPP_
 
#include <iostream>
 
#include "robotoc/ocp/discretization_method.hpp"
#include "robotoc/line_search/line_search_settings.hpp"
#include "robotoc/solver/interpolation_order.hpp"
 
 
namespace robotoc {
 
struct SolverOptions {
  int nthreads = 1;
 
  int max_iter = 100;
 
  double kkt_tol = 1.0e-07;
 
  double mu_init = 1.0e-03;
 
  double mu_min = 1.0e-03;
 
  double kkt_tol_mu = 1.0e-07;
 
  double mu_linear_decrease_factor = 0.2;
 
  double mu_superlinear_decrease_power = 1.5;
 
  bool enable_line_search = false;
 
  LineSearchSettings line_search_settings;
 
  DiscretizationMethod discretization_method = DiscretizationMethod::GridBased;
 
  int initial_sto_reg_iter = 0;
 
  double initial_sto_reg = 1.0e30;
 
  double kkt_tol_mesh = 0.1;
 
  double max_dt_mesh = 0.0;
 
  double max_dts_riccati = 0.1;
 
  bool enable_solution_interpolation = true;
 
  InterpolationOrder interpolation_order = InterpolationOrder::Linear;
 
  bool enable_benchmark = false;
 
  void disp(std::ostream& os) const;
 
  friend std::ostream& operator<<(std::ostream& os, 
                                  const SolverOptions& solver_options);
 
};
 
} // namespace robotoc
 
#endif // ROBOTOC_SOLVER_OPTIONS_HPP_