iteration_info.hpp

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// Copyright (c) Sleipnir contributors
 
#pragma once
 
#include <Eigen/Core>
#include <Eigen/SparseCore>
 
namespace slp {
 
/// Solver iteration information exposed to an iteration callback.
///
/// @tparam Scalar Scalar type.
template <typename Scalar>
struct IterationInfo {
  /// The solver iteration.
  int iteration;
 
  /// The decision variables.
  const Eigen::Vector<Scalar, Eigen::Dynamic>& x;
 
  /// The inequality constraint slack variables.
  const Eigen::Vector<Scalar, Eigen::Dynamic>& s;
 
  /// The equality constraint dual variables.
  const Eigen::Vector<Scalar, Eigen::Dynamic>& y;
 
  /// The inequality constraint dual variables.
  const Eigen::Vector<Scalar, Eigen::Dynamic>& z;
 
  /// The gradient of the cost function.
  const Eigen::SparseVector<Scalar>& g;
 
  /// The Hessian of the Lagrangian.
  const Eigen::SparseMatrix<Scalar>& H;
 
  /// The equality constraint Jacobian.
  const Eigen::SparseMatrix<Scalar>& A_e;
 
  /// The inequality constraint Jacobian.
  const Eigen::SparseMatrix<Scalar>& A_i;
};
 
}  // namespace slp