acado_default_options.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef ACADO_TOOLKIT_ACADO_DEFAULT_OPTIONS_HPP
#define ACADO_TOOLKIT_ACADO_DEFAULT_OPTIONS_HPP

#include <acado/utils/acado_types.hpp>

BEGIN_NAMESPACE_ACADO

// OptimizationAlgorithm
const int               defaultMaxNumIterations = 200;                                                                          
const double    defaultKKTtolerance = 1.0e-6;                                                                           
const double    defaultKKTtoleranceSafeguard = 1.0;                                                                     
const double    defaultLevenbergMarguardt = 0.0;                                                                        
const double    defaultHessianProjectionFactor = 1.0;                                                           
const int               defaultHessianApproximation = BLOCK_BFGS_UPDATE;                                        
const int               defaultDynamicHessianApproximation = DEFAULT_HESSIAN_APPROXIMATION;     
const int               defaultDynamicSensitivity = BACKWARD_SENSITIVITY;                                       
const int               defaultObjectiveSensitivity = BACKWARD_SENSITIVITY;                                     
const int               defaultConstraintSensitivity = BACKWARD_SENSITIVITY;                            
const int               defaultDiscretizationType = MULTIPLE_SHOOTING;                                          
const int               defaultSparseQPsolution = CONDENSING;                                                           
const int               defaultGlobalizationStrategy = GS_LINESEARCH;                                           
const double    defaultLinesearchTolerance = 1.0e-5;                                                            
const double    defaultMinLinesearchParameter = 0.5;                                                            
const int               defaultMaxNumQPiterations = 10000;                                                                      
const int               defaultHotstartQP = BT_FALSE;                                                                           
const double    defaultInfeasibleQPrelaxation = 1.0e-8;                                                         
const int               defaultInfeasibleQPhandling = IQH_RELAX_L2;                                                     
const int               defaultUseRealtimeIterations = BT_FALSE;                                                        
const int               defaultUseRealtimeShifts = BT_FALSE;                                                            
const int               defaultUseImmediateFeedback = BT_FALSE;                                                         
const int               defaultTerminateAtConvergence = BT_TRUE;                                                        
const int               defaultUseReferencePrediction = BT_TRUE;                                                        
const int               defaultPrintlevel = MEDIUM;                                                                                     
const int               defaultPrintCopyright = BT_TRUE;                                                                        
const int               defaultprintSCPmethodProfile = BT_FALSE;                                                        
// DynamicDiscretization
const int               defaultFreezeIntegrator = BT_TRUE;                                                      
const int               defaultIntegratorType = INT_RK45;                                                       
const int               defaultFeasibilityCheck = BT_FALSE;                                                     
const int               defaultPlotResoltion = LOW;                                                                     
// Integrator
const int               defaultMaxNumSteps = 1000;                                                                      
const double    defaultIntegratorTolerance = 1.0e-6;                                            
const double    defaultAbsoluteTolerance = 1.0e-8;                                                      
const double    defaultInitialStepsize = 1.0e-3;                                                        
const double    defaultMinStepsize = 1.0e-8;                                                            
const double    defaultMaxStepsize = 1.0e+8;                                                            
const double    defaultStepsizeTuning = 0.5;                                                            
const double    defaultCorrectorTolerance = 1.0e-14;                                            
const int               defaultIntegratorPrintlevel = LOW;                                                      
const int               defaultLinearAlgebraSolver = HOUSEHOLDER_METHOD;                        
const int               defaultAlgebraicRelaxation = ART_ADAPTIVE_POLYNOMIAL;           
const double    defaultRelaxationParameter = 0.5;                                                       
const int       defaultprintIntegratorProfile = BT_FALSE;                                       
// MultiObjectiveAlgorithm
const int               defaultParetoFrontDiscretization = 21;                                          
const int               defaultParetoFrontGeneration = PFG_WEIGHTED_SUM;                        
const int               defaultParetoFrontHotstart = BT_TRUE;                                           
// SimulationEnvironment
const int               defaultSimulateComputationalDelay = BT_FALSE;                           
const double    defaultComputationalDelayFactor = 1.0;                                          
const double    defaultComputationalDelayOffset = 0.0;                                          
// Process
const int               defaultSimulationAlgorithm = SIMULATION_BY_INTEGRATION;         
const int               defaultControlPlotting = PLOT_REAL;                                                     
const int               defaultParameterPlotting = PLOT_REAL;                                           
const int               defaultOutputPlotting = PLOT_REAL;                                                      
CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_ACADO_DEFAULT_OPTIONS_HPP

/*
 *      end of file
 */