slp::Options Struct Reference

Solver options. More...

#include </home/runner/work/allwpilib/allwpilib/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/optimization/solver/options.hpp>

Public Attributes
double	tolerance = 1e-8
	The solver will stop once the error is below this tolerance.
int	max_iterations = 5000
	The maximum number of solver iterations before returning a solution.
std::chrono::duration< double >	timeout
	The maximum elapsed wall clock time before returning a solution.
bool	feasible_ipm = false
	Enables the feasible interior-point method.
bool	diagnostics = false
	Enables diagnostic output.

Detailed Description

Solver options.

Member Data Documentation

diagnostics

bool slp::Options::diagnostics = false

Enables diagnostic output.

See https://sleipnirgroup.github.io/Sleipnir/md_usage.html#output for more information.

feasible_ipm

bool slp::Options::feasible_ipm = false

Enables the feasible interior-point method.

When the inequality constraints are all feasible, step sizes are reduced when necessary to prevent them becoming infeasible again. This is useful when parts of the problem are ill-conditioned in infeasible regions (e.g., square root of a negative value). This can slow or prevent progress toward a solution though, so only enable it if necessary.

max_iterations

int slp::Options::max_iterations = 5000

The maximum number of solver iterations before returning a solution.

timeout

std::chrono::duration<double> slp::Options::timeout

Initial value:

{
      std::numeric_limits<double>::infinity()}

The maximum elapsed wall clock time before returning a solution.

tolerance

double slp::Options::tolerance = 1e-8

The solver will stop once the error is below this tolerance.

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

• /home/runner/work/allwpilib/allwpilib/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/optimization/solver/options.hpp