sleipnir::SolverIterationInfo Struct Reference

#include <sleipnir/optimization/SolverIterationInfo.hpp>

Public Attributes
int	iteration
	The solver iteration.
const Eigen::VectorXd &	x
	The decision variables.
const Eigen::VectorXd &	s
	The inequality constraint slack variables.
const Eigen::SparseVector< double > &	g
	The gradient of the cost function.
const Eigen::SparseMatrix< double > &	H
	The Hessian of the Lagrangian.
const Eigen::SparseMatrix< double > &	A_e
	The equality constraint Jacobian.
const Eigen::SparseMatrix< double > &	A_i
	The inequality constraint Jacobian.

Detailed Description

Solver iteration information exposed to a user callback.

Member Data Documentation

A_e

const Eigen::SparseMatrix<double>& sleipnir::SolverIterationInfo::A_e

The equality constraint Jacobian.

A_i

const Eigen::SparseMatrix<double>& sleipnir::SolverIterationInfo::A_i

The inequality constraint Jacobian.

g

const Eigen::SparseVector<double>& sleipnir::SolverIterationInfo::g

The gradient of the cost function.

H

const Eigen::SparseMatrix<double>& sleipnir::SolverIterationInfo::H

The Hessian of the Lagrangian.

iteration

int sleipnir::SolverIterationInfo::iteration

The solver iteration.

s

const Eigen::VectorXd& sleipnir::SolverIterationInfo::s

The inequality constraint slack variables.

x

const Eigen::VectorXd& sleipnir::SolverIterationInfo::x

The decision variables.

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The documentation for this struct was generated from the following file:

• include/sleipnir/optimization/SolverIterationInfo.hpp