cpp_robotics::ALConfig

#include <al_ilqr.hpp>

Public Attributes

	Name
size_t	max_iter
size_t	max_ilqr_iter
double	cost_torelance
double	constraint_torelance
double	beta1
double	beta2
double	alpha_scale
size_t	max_forward_itr
double	dual_torelance
double	penalty_initial
double	penalty_scale_factor
double	penalty_max
double	reg_initial
double	reg_min
double	reg_max
double	reg_scale_factor
size_t	reg_max_count
double	eps

Public Attributes Documentation

variable max_iter

size_t max_iter = 30;

variable max_ilqr_iter

size_t max_ilqr_iter = 100;

variable cost_torelance

double cost_torelance = 1e-4;

variable constraint_torelance

double constraint_torelance = 1e-2;

variable beta1

double beta1 = 1e-4;

variable beta2

double beta2 = 10.0;

variable alpha_scale

double alpha_scale = 0.5;

variable max_forward_itr

size_t max_forward_itr = 10;

variable dual_torelance

double dual_torelance = 1e-6;

variable penalty_initial

double penalty_initial = 1e-4;

variable penalty_scale_factor

double penalty_scale_factor = 10;

variable penalty_max

double penalty_max = 1e8;

variable reg_initial

double reg_initial = 1e-6;

variable reg_min

double reg_min = 1e-8;

variable reg_max

double reg_max = 1e8;

variable reg_scale_factor

double reg_scale_factor = 1.6;

variable reg_max_count

size_t reg_max_count = 50;

variable eps

double eps = 1e-6;

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Updated on 2024-05-28 at 06:55:39 +0000