PANOCOCPSolver< Conf > Class Template Reference

#include <alpaqa/include/alpaqa/inner/panoc-ocp.hpp>

Detailed Description

template<Config Conf>
class alpaqa::PANOCOCPSolver< Conf >

Examples

C++/CustomControlCppProblem/main.cpp.

Definition at line 132 of file panoc-ocp.hpp.

Collaboration diagram for PANOCOCPSolver< Conf >:

Public Types
using	Problem = alpaqa::TypeErasedControlProblem< config_t >
using	Params = PANOCOCPParams< config_t >
using	Stats = PANOCOCPStats< config_t >
using	ProgressInfo = PANOCOCPProgressInfo< config_t >
using	SolveOptions = InnerSolveOptions< config_t >

Public Member Functions
	PANOCOCPSolver (const Params &params)
Stats	operator() (const Problem &problem, const SolveOptions &opts, rvec u, rvec y, crvec μ, rvec err_z)
template<class P >
Stats	operator() (const P &problem, const SolveOptions &opts, rvec u, rvec y, crvec μ, rvec e)
template<class P >
Stats	operator() (const P &problem, const SolveOptions &opts, rvec u)
PANOCOCPSolver &	set_progress_callback (std::function< void(const ProgressInfo &)> cb)
	Specify a callable that is invoked with some intermediate results on each iteration of the algorithm.
std::string	get_name () const
void	stop ()
const Params &	get_params () const

Public Attributes
std::ostream *	os = &std::cout

Private Types
using	Helpers = detail::PANOCHelpers< config_t >

Private Attributes
Params	params
AtomicStopSignal	stop_signal
std::function< void(const ProgressInfo &)>	progress_cb

Member Typedef Documentation

Problem

using Problem = alpaqa::TypeErasedControlProblem<config_t>

Definition at line 136 of file panoc-ocp.hpp.

Params

using Params = PANOCOCPParams<config_t>

Definition at line 137 of file panoc-ocp.hpp.

Stats

using Stats = PANOCOCPStats<config_t>

Definition at line 138 of file panoc-ocp.hpp.

ProgressInfo

using ProgressInfo = PANOCOCPProgressInfo<config_t>

Definition at line 139 of file panoc-ocp.hpp.

SolveOptions

using SolveOptions = InnerSolveOptions<config_t>

Definition at line 140 of file panoc-ocp.hpp.

Helpers

using Helpers = detail::PANOCHelpers<config_t>

private

Definition at line 184 of file panoc-ocp.hpp.

Constructor & Destructor Documentation

PANOCOCPSolver()

PANOCOCPSolver ( const Params &  params )

inline

Definition at line 142 of file panoc-ocp.hpp.

Member Function Documentation

operator()() [1/3]

auto operator()	(	const Problem &	problem,
		const SolveOptions &	opts,
		rvec	u,
		rvec	y,
		crvec	μ,
		rvec	err_z
	)

[in] Time elapsed since the start of the algorithm

[in] The current iteration number

[in] Tolerance of the current iterate

[in] The number of successive iterations no progress was made

Iterate, updates xu, ψ, grad_ψ, have_jacobians, L

[in] Finite difference step size relative to x

[in] Minimum absolute finite difference step size

[in] Minimum allowed Lipschitz estimate.

[in] Maximum allowed Lipschitz estimate.

Workspace with the same dimensions as xu, with x_init

Workspace with the same dimensions as grad_ψ

Parameters

[in]	problem	Problem description
[in]	opts	Solve options
[in,out]	u	Decision variable \( u \)
[in,out]	y	Lagrange multipliers \( y \)
[in]	μ	Penalty factors \( \mu \)
[out]	err_z	Slack variable error \( c(x) - \Pi_D(c(x) + \mu^{-1} y) \)

Definition at line 46 of file panoc-ocp.tpp.

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operator()() [2/3]

Stats operator() ( const P &  problem, const SolveOptions &  opts, rvec  u, rvec  y, crvec  μ, rvec  e  )

inline

Definition at line 152 of file panoc-ocp.hpp.

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operator()() [3/3]

Stats operator() ( const P &  problem, const SolveOptions &  opts, rvec  u  )

inline

Definition at line 158 of file panoc-ocp.hpp.

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set_progress_callback()

PANOCOCPSolver & set_progress_callback ( std::function< void(const ProgressInfo &)>  cb )

inline

Specify a callable that is invoked with some intermediate results on each iteration of the algorithm.

See also

ProgressInfo

Definition at line 169 of file panoc-ocp.hpp.

get_name()

std::string get_name

Definition at line 41 of file panoc-ocp.tpp.

stop()

void stop ( )

inline

Definition at line 176 of file panoc-ocp.hpp.

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get_params()

const Params & get_params ( ) const

inline

Definition at line 178 of file panoc-ocp.hpp.

Member Data Documentation

params

Params params

private

Definition at line 181 of file panoc-ocp.hpp.

stop_signal

AtomicStopSignal stop_signal

private

Definition at line 182 of file panoc-ocp.hpp.

progress_cb

std::function<void(const ProgressInfo &)> progress_cb

private

Definition at line 183 of file panoc-ocp.hpp.

os

std::ostream* os = &std::cout

Definition at line 187 of file panoc-ocp.hpp.

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The documentation for this class was generated from the following files:

• panoc-ocp.hpp
• panoc-ocp.tpp