feasibility_restoration_cycle_detector.hpp

// Copyright (c) Sleipnir contributors
 
#pragma once
 
#include <limits>
 
namespace slp {
 
template <typename Scalar>
class FeasibilityRestorationCycleDetector {
 public:
  void record_entry(Scalar constraint_violation) {
    ++m_num_entries;
    if (constraint_violation < Scalar(0.9) * m_min_entry_violation) {
      m_min_entry_violation = constraint_violation;
      m_num_stalled_entries = 0;
    } else {
      ++m_num_stalled_entries;
    }
  }
 
  bool is_cycling() const {
    return m_num_entries > 5 && m_num_stalled_entries >= 2;
  }
 
 private:
  int m_num_entries = 0;
  Scalar m_min_entry_violation = std::numeric_limits<Scalar>::infinity();
  int m_num_stalled_entries = 0;
};
 
}  // namespace slp