SolverIterationInfo.hpp

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// Copyright (c) Sleipnir contributors
 
#pragma once
 
#include <Eigen/Core>
#include <Eigen/SparseCore>
 
namespace sleipnir {
 
/**
 * Solver iteration information exposed to a user callback.
 */
struct SolverIterationInfo {
  /// The solver iteration.
  int iteration;
 
  /// The decision variables.
  const Eigen::VectorXd& x;
 
  /// The inequality constraint slack variables.
  const Eigen::VectorXd& s;
 
  /// The gradient of the cost function.
  const Eigen::SparseVector<double>& g;
 
  /// The Hessian of the Lagrangian.
  const Eigen::SparseMatrix<double>& H;
 
  /// The equality constraint Jacobian.
  const Eigen::SparseMatrix<double>& A_e;
 
  /// The inequality constraint Jacobian.
  const Eigen::SparseMatrix<double>& A_i;
};
 
}  // namespace sleipnir