#include <acado/utils/acado_types.hpp>
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Variable Documentation
| const double defaultAbsoluteTolerance = 1.0e-8 |
Default value for the absolute integrator tolerance (possible values: any positive real number).
Definition at line 80 of file acado_default_options.hpp.
| const int defaultAlgebraicRelaxation = ART_ADAPTIVE_POLYNOMIAL |
Default value for specifying how algebraic equations are relaxed within the integrator (possible values: ART_EXPONENTIAL, ART_ADAPTIVE_POLYNOMIAL).
Definition at line 88 of file acado_default_options.hpp.
| const double defaultComputationalDelayFactor = 1.0 |
Default value for the factor scaling the actual computation time for simulating the computational delay (possible values: any non-negative real number).
Definition at line 99 of file acado_default_options.hpp.
| const double defaultComputationalDelayOffset = 0.0 |
Default value for the offset correcting the actual computation time for simulating the computational delay (possible values: any non-negative real number).
Definition at line 100 of file acado_default_options.hpp.
| const int defaultConstraintSensitivity = BACKWARD_SENSITIVITY |
Default value for generating sensitivities of the constraints (possible values: FORWARD_SENSITIVITY, BACKWARD_SENSITIVITY).
Definition at line 52 of file acado_default_options.hpp.
| const int defaultControlPlotting = PLOT_REAL |
Default value for specifying how to plot controls within the process (possible values: PLOT_NOMINAL, PLOT_REAL).
Definition at line 104 of file acado_default_options.hpp.
| const double defaultCorrectorTolerance = 1.0e-14 |
Default value for the corrector tolerance of implicit integrators (possible values: any positive real number).
Definition at line 85 of file acado_default_options.hpp.
| const int defaultDiscretizationType = MULTIPLE_SHOOTING |
Default value for specifying how to discretize the OCP in time (possible values: SINGLE_SHOOTING, MULTIPLE_SHOOTING, COLLOCATION).
Definition at line 53 of file acado_default_options.hpp.
| const int defaultDynamicHessianApproximation = DEFAULT_HESSIAN_APPROXIMATION |
Default value for approximating the Hessian of the dynamic equations within the NLP solver (possible values: CONSTANT_HESSIAN, GAUSS_NEWTON, FULL_BFGS_UPDATE, BLOCK_BFGS_UPDATE, GAUSS_NEWTON_WITH_BLOCK_BFGS, EXACT_HESSIAN, DEFAULT_HESSIAN_APPROXIMATION).
Definition at line 49 of file acado_default_options.hpp.
| const int defaultDynamicSensitivity = BACKWARD_SENSITIVITY |
Default value for generating sensitivities of the dynamic equations (possible values: FORWARD_SENSITIVITY, BACKWARD_SENSITIVITY).
Definition at line 50 of file acado_default_options.hpp.
| const int defaultFeasibilityCheck = BT_FALSE |
Default value for specifying whether infeasibilty shall be checked (possible values: BT_TRUE, BT_FALSE).
Definition at line 74 of file acado_default_options.hpp.
| const int defaultFreezeIntegrator = BT_TRUE |
Default value for specifying whether integrator should freeze all intermediate results (possible values: BT_TRUE, BT_FALSE).
Definition at line 72 of file acado_default_options.hpp.
| const int defaultGlobalizationStrategy = GS_LINESEARCH |
Default value for specifying which globablization strategy is used within the NLP solver (possible values: GS_FULLSTEP, GS_LINESEARCH).
Definition at line 55 of file acado_default_options.hpp.
| const int defaultHessianApproximation = BLOCK_BFGS_UPDATE |
Default value for approximating the Hessian within the NLP solver (possible values: CONSTANT_HESSIAN, GAUSS_NEWTON, FULL_BFGS_UPDATE, BLOCK_BFGS_UPDATE, GAUSS_NEWTON_WITH_BLOCK_BFGS, EXACT_HESSIAN, DEFAULT_HESSIAN_APPROXIMATION).
Definition at line 48 of file acado_default_options.hpp.
| const double defaultHessianProjectionFactor = 1.0 |
Default value for projecting semi-definite Hessians to positive definite part (possible values: any positive real number).
Definition at line 47 of file acado_default_options.hpp.
| const int defaultHotstartQP = BT_FALSE |
Default value for specifying whether the underlying QP shall be hotstarted or not (possible values: BT_TRUE, BT_FALSE).
Definition at line 59 of file acado_default_options.hpp.
| const int defaultInfeasibleQPhandling = IQH_RELAX_L2 |
Default value for specifying the strategy to handle infeasible sub-QPs (possible values: IQH_STOP, IQH_IGNORE, IQH_RELAX_L2).
Definition at line 61 of file acado_default_options.hpp.
| const double defaultInfeasibleQPrelaxation = 1.0e-8 |
Default value for the amount constraints are relaxed in case of an infeasible sub-QP (possible values: ).
Definition at line 60 of file acado_default_options.hpp.
| const double defaultInitialStepsize = 1.0e-3 |
Default value for the intial stepsize of the integrator (possible values: any positive real number).
Definition at line 81 of file acado_default_options.hpp.
| const int defaultIntegratorPrintlevel = LOW |
Default value for for the printlevel determining the quatity of output given by the integrator (possible values: HIGH, MEDIUM, LOW, NONE).
Definition at line 86 of file acado_default_options.hpp.
| const double defaultIntegratorTolerance = 1.0e-6 |
Default value for the (relative) integrator tolerance (possible values: any positive real number).
Definition at line 79 of file acado_default_options.hpp.
| const int defaultIntegratorType = INT_RK45 |
Default value for integrator type (possible values: INT_RK12, INT_RK23, INT_RK45, INT_RK78, INT_BDF).
Definition at line 73 of file acado_default_options.hpp.
| const double defaultKKTtolerance = 1.0e-6 |
Default value for the KKT tolerance used as termination criterium by the NLP solver (possible values: any positive real number).
Definition at line 44 of file acado_default_options.hpp.
| const double defaultKKTtoleranceSafeguard = 1.0 |
Default value for safeguarding the KKT tolerance as termination criterium for the NLP solver (possible values: any non-negative real number).
Definition at line 45 of file acado_default_options.hpp.
| const double defaultLevenbergMarguardt = 0.0 |
Default value for Levenberg-Marquardt regularization (possible values: any non-negative real number).
Definition at line 46 of file acado_default_options.hpp.
| const int defaultLinearAlgebraSolver = HOUSEHOLDER_METHOD |
Default value for specifying how the linear systems are solved within the integrator (possible values: HOUSEHOLDER_METHOD, SPARSE_LU).
Definition at line 87 of file acado_default_options.hpp.
| const double defaultLinesearchTolerance = 1.0e-5 |
Default value for the tolerance of the line-search globalization (possible values: any positive real number).
Definition at line 56 of file acado_default_options.hpp.
| BEGIN_NAMESPACE_ACADO const int defaultMaxNumIterations = 200 |
Default value for maximum number of iterations of the NLP solver (possible values: any non-negative integer).
Definition at line 43 of file acado_default_options.hpp.
| const int defaultMaxNumQPiterations = 10000 |
Default value for maximum number of iterations of the (underlying) QP solver (possible values: any positive integer).
Definition at line 58 of file acado_default_options.hpp.
| const int defaultMaxNumSteps = 1000 |
Default value for maximum number of integrator steps (possible values: any positive integer).
Definition at line 78 of file acado_default_options.hpp.
| const double defaultMaxStepsize = 1.0e+8 |
Default value for the maximum stepsize of the integrator (possible values: any positive real number).
Definition at line 83 of file acado_default_options.hpp.
| const double defaultMinLinesearchParameter = 0.5 |
Default value for the minimum stepsize of the line-search globalization (possible values: any positive real number).
Definition at line 57 of file acado_default_options.hpp.
| const double defaultMinStepsize = 1.0e-8 |
Default value for the minimum stepsize of the integrator (possible values: any positive real number).
Definition at line 82 of file acado_default_options.hpp.
| const int defaultObjectiveSensitivity = BACKWARD_SENSITIVITY |
Default value for generating sensitivities of the objective function (possible values: FORWARD_SENSITIVITY, BACKWARD_SENSITIVITY).
Definition at line 51 of file acado_default_options.hpp.
| const int defaultOutputPlotting = PLOT_REAL |
Default value for specifying how to plot outputs within the process (possible values: PLOT_NOMINAL, PLOT_REAL).
Definition at line 106 of file acado_default_options.hpp.
| const int defaultParameterPlotting = PLOT_REAL |
Default value for specifying how to plot parameters within the process (possible values: PLOT_NOMINAL, PLOT_REAL).
Definition at line 105 of file acado_default_options.hpp.
| const int defaultParetoFrontDiscretization = 21 |
Default value for the number of points of the pareto front (possible values: any postive integer).
Definition at line 93 of file acado_default_options.hpp.
| const int defaultParetoFrontGeneration = PFG_WEIGHTED_SUM |
Default value for specifying the scalarization method (possible values: PFG_FIRST_OBJECTIVE, PFG_SECOND_OBJECTIVE, PFG_WEIGHTED_SUM, PFG_NORMALIZED_NORMAL_CONSTRAINT, PFG_NORMAL_BOUNDARY_INTERSECTION, PFG_ENHANCED_NORMALIZED_NORMAL_CONSTRAINT, PFG_EPSILON_CONSTRAINT).
Definition at line 94 of file acado_default_options.hpp.
| const int defaultParetoFrontHotstart = BT_TRUE |
Default value for specifying whether hotstarts are to be used within the multi-objective optimization (possible values: BT_TRUE, BT_FALSE).
Definition at line 95 of file acado_default_options.hpp.
| const int defaultPlotResoltion = LOW |
Default value for specifying the plot resolution (possible values: HIGH, MEDIUM, LOW).
Definition at line 75 of file acado_default_options.hpp.
| const int defaultPrintCopyright = BT_TRUE |
Default value for specifying whether the ACADO copyright notice is printed or not (possible values: BT_TRUE, BT_FALSE).
Definition at line 68 of file acado_default_options.hpp.
| const int defaultprintIntegratorProfile = BT_FALSE |
Default value for specifying whether a runtime profile of the integrator shall be printed (possible values: BT_TRUE, BT_FALSE).
Definition at line 90 of file acado_default_options.hpp.
| const int defaultPrintlevel = MEDIUM |
Default value for the printlevel determining the quatity of output given by the optimization algorithm (possible values: HIGH, MEDIUM, LOW, NONE).
Definition at line 67 of file acado_default_options.hpp.
| const int defaultprintSCPmethodProfile = BT_FALSE |
Default value for printing the profile of the SCP method (possible values: BT_FALSE, BT_TRUE).
Definition at line 69 of file acado_default_options.hpp.
| const double defaultRelaxationParameter = 0.5 |
Default value for the amount algebraic equations are relaxed within the integrator (possible values: any positive real number).
Definition at line 89 of file acado_default_options.hpp.
| const int defaultSimulateComputationalDelay = BT_FALSE |
Default value for specifying whether computational delays shall be simulated or not (possible values: BT_TRUE, BT_FALSE).
Definition at line 98 of file acado_default_options.hpp.
| const int defaultSimulationAlgorithm = SIMULATION_BY_INTEGRATION |
Default value for specifying the simulation algorithm used within the process (possible values: SIMULATION_BY_INTEGRATION).
Definition at line 103 of file acado_default_options.hpp.
| const int defaultSparseQPsolution = CONDENSING |
Default value for specifying how to solve the sparse sub-QP (possible values: SPARSE_SOLVER, CONDENSING, FULL_CONDENSING).
Definition at line 54 of file acado_default_options.hpp.
| const double defaultStepsizeTuning = 0.5 |
Default value for the factor adapting the integrator stepsize (possible values: any positive real smaller than one).
Definition at line 84 of file acado_default_options.hpp.
| const int defaultTerminateAtConvergence = BT_TRUE |
Default value for specifying whether to stop iterations at convergence (possible values: BT_TRUE, BT_FALSE).
Definition at line 65 of file acado_default_options.hpp.
| const int defaultUseImmediateFeedback = BT_FALSE |
Default value for specifying whether immediate feedback shall be used (possible values: BT_TRUE, BT_FALSE).
Definition at line 64 of file acado_default_options.hpp.
| const int defaultUseRealtimeIterations = BT_FALSE |
Default value for specifying whether real-time iterations shall be used (possible values: BT_TRUE, BT_FALSE).
Definition at line 62 of file acado_default_options.hpp.
| const int defaultUseRealtimeShifts = BT_FALSE |
Default value for specifying whether shifted real-time iterations shall be used (possible values: BT_TRUE, BT_FALSE).
Definition at line 63 of file acado_default_options.hpp.
| const int defaultUseReferencePrediction = BT_TRUE |
Default value for specifying whether the prediction of the reference trajectory shall be known the control law (possible values: BT_TRUE, BT_FALSE).
Definition at line 66 of file acado_default_options.hpp.