SolverConfig.hpp

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// Copyright (c) Sleipnir contributors
 
#pragma once
 
#include <chrono>
#include <limits>
 
#include "sleipnir/util/SymbolExports.hpp"
 
namespace sleipnir {
 
/**
 * Solver configuration.
 */
struct SLEIPNIR_DLLEXPORT SolverConfig {
  /// The solver will stop once the error is below this tolerance.
  double tolerance = 1e-8;
 
  /// The maximum number of solver iterations before returning a solution.
  int maxIterations = 5000;
 
  /// The solver will stop once the error is below this tolerance for
  /// `acceptableIterations` iterations. This is useful in cases where the
  /// solver might not be able to achieve the desired level of accuracy due to
  /// floating-point round-off.
  double acceptableTolerance = 1e-6;
 
  /// The solver will stop once the error is below `acceptableTolerance` for
  /// this many iterations.
  int maxAcceptableIterations = 15;
 
  /// The maximum elapsed wall clock time before returning a solution.
  std::chrono::duration<double> timeout{
      std::numeric_limits<double>::infinity()};
 
  /// 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.
  bool feasibleIPM = false;
 
  /// Enables diagnostic prints.
  bool diagnostics = false;
 
  /// Enables writing sparsity patterns of H, Aₑ, and Aᵢ to files named H.spy,
  /// A_e.spy, and A_i.spy respectively during solve.
  ///
  /// Use tools/spy.py to plot them.
  bool spy = false;
};
 
}  // namespace sleipnir