acado_default_options.hpp
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00001 /*
00002  *    This file is part of ACADO Toolkit.
00003  *
00004  *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
00005  *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
00006  *    Milan Vukov, Rien Quirynen, KU Leuven.
00007  *    Developed within the Optimization in Engineering Center (OPTEC)
00008  *    under supervision of Moritz Diehl. All rights reserved.
00009  *
00010  *    ACADO Toolkit is free software; you can redistribute it and/or
00011  *    modify it under the terms of the GNU Lesser General Public
00012  *    License as published by the Free Software Foundation; either
00013  *    version 3 of the License, or (at your option) any later version.
00014  *
00015  *    ACADO Toolkit is distributed in the hope that it will be useful,
00016  *    but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00018  *    Lesser General Public License for more details.
00019  *
00020  *    You should have received a copy of the GNU Lesser General Public
00021  *    License along with ACADO Toolkit; if not, write to the Free Software
00022  *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00023  *
00024  */
00025 
00026 
00035 #ifndef ACADO_TOOLKIT_ACADO_DEFAULT_OPTIONS_HPP
00036 #define ACADO_TOOLKIT_ACADO_DEFAULT_OPTIONS_HPP
00037 
00038 #include <acado/utils/acado_types.hpp>
00039 
00040 BEGIN_NAMESPACE_ACADO
00041 
00042 // OptimizationAlgorithm
00043 const int               defaultMaxNumIterations = 200;                                                                          
00044 const double    defaultKKTtolerance = 1.0e-6;                                                                           
00045 const double    defaultKKTtoleranceSafeguard = 1.0;                                                                     
00046 const double    defaultLevenbergMarguardt = 0.0;                                                                        
00047 const double    defaultHessianProjectionFactor = 1.0;                                                           
00048 const int               defaultHessianApproximation = BLOCK_BFGS_UPDATE;                                        
00049 const int               defaultDynamicHessianApproximation = DEFAULT_HESSIAN_APPROXIMATION;     
00050 const int               defaultDynamicSensitivity = BACKWARD_SENSITIVITY;                                       
00051 const int               defaultObjectiveSensitivity = BACKWARD_SENSITIVITY;                                     
00052 const int               defaultConstraintSensitivity = BACKWARD_SENSITIVITY;                            
00053 const int               defaultDiscretizationType = MULTIPLE_SHOOTING;                                          
00054 const int               defaultSparseQPsolution = CONDENSING;                                                           
00055 const int               defaultGlobalizationStrategy = GS_LINESEARCH;                                           
00056 const double    defaultLinesearchTolerance = 1.0e-5;                                                            
00057 const double    defaultMinLinesearchParameter = 0.5;                                                            
00058 const int               defaultMaxNumQPiterations = 10000;                                                                      
00059 const int               defaultHotstartQP = BT_FALSE;                                                                           
00060 const double    defaultInfeasibleQPrelaxation = 1.0e-8;                                                         
00061 const int               defaultInfeasibleQPhandling = IQH_RELAX_L2;                                                     
00062 const int               defaultUseRealtimeIterations = BT_FALSE;                                                        
00063 const int               defaultUseRealtimeShifts = BT_FALSE;                                                            
00064 const int               defaultUseImmediateFeedback = BT_FALSE;                                                         
00065 const int               defaultTerminateAtConvergence = BT_TRUE;                                                        
00066 const int               defaultUseReferencePrediction = BT_TRUE;                                                        
00067 const int               defaultPrintlevel = MEDIUM;                                                                                     
00068 const int               defaultPrintCopyright = BT_TRUE;                                                                        
00069 const int               defaultprintSCPmethodProfile = BT_FALSE;                                                        
00071 // DynamicDiscretization
00072 const int               defaultFreezeIntegrator = BT_TRUE;                                                      
00073 const int               defaultIntegratorType = INT_RK45;                                                       
00074 const int               defaultFeasibilityCheck = BT_FALSE;                                                     
00075 const int               defaultPlotResoltion = LOW;                                                                     
00077 // Integrator
00078 const int               defaultMaxNumSteps = 1000;                                                                      
00079 const double    defaultIntegratorTolerance = 1.0e-6;                                            
00080 const double    defaultAbsoluteTolerance = 1.0e-8;                                                      
00081 const double    defaultInitialStepsize = 1.0e-3;                                                        
00082 const double    defaultMinStepsize = 1.0e-8;                                                            
00083 const double    defaultMaxStepsize = 1.0e+8;                                                            
00084 const double    defaultStepsizeTuning = 0.5;                                                            
00085 const double    defaultCorrectorTolerance = 1.0e-14;                                            
00086 const int               defaultIntegratorPrintlevel = LOW;                                                      
00087 const int               defaultLinearAlgebraSolver = HOUSEHOLDER_METHOD;                        
00088 const int               defaultAlgebraicRelaxation = ART_ADAPTIVE_POLYNOMIAL;           
00089 const double    defaultRelaxationParameter = 0.5;                                                       
00090 const int       defaultprintIntegratorProfile = BT_FALSE;                                       
00092 // MultiObjectiveAlgorithm
00093 const int               defaultParetoFrontDiscretization = 21;                                          
00094 const int               defaultParetoFrontGeneration = PFG_WEIGHTED_SUM;                        
00095 const int               defaultParetoFrontHotstart = BT_TRUE;                                           
00097 // SimulationEnvironment
00098 const int               defaultSimulateComputationalDelay = BT_FALSE;                           
00099 const double    defaultComputationalDelayFactor = 1.0;                                          
00100 const double    defaultComputationalDelayOffset = 0.0;                                          
00102 // Process
00103 const int               defaultSimulationAlgorithm = SIMULATION_BY_INTEGRATION;         
00104 const int               defaultControlPlotting = PLOT_REAL;                                                     
00105 const int               defaultParameterPlotting = PLOT_REAL;                                           
00106 const int               defaultOutputPlotting = PLOT_REAL;                                                      
00108 CLOSE_NAMESPACE_ACADO
00109 
00110 #endif  // ACADO_TOOLKIT_ACADO_DEFAULT_OPTIONS_HPP
00111 
00112 /*
00113  *      end of file
00114  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:36:41