Options for bilinear alternation.
#include <drake/geometry/optimization/cspace_free_polytope.h>
Public Attributes | |
int | max_iter {10} |
The maximum number of bilinear alternation iterations. More... | |
double | convergence_tol {1E-3} |
When the change of the cost function between two consecutive iterations in bilinear alternation is no larger than this number, stop the bilinear alternation. More... | |
FindPolytopeGivenLagrangianOptions | find_polytope_options |
FindSeparationCertificateGivenPolytopeOptions | find_lagrangian_options |
double | ellipsoid_scaling {0.99} |
After finding the maximal inscribed ellipsoid in C-space polytope {s | C*s<=d, s_lower<=s<=s_upper}, we scale this ellipsoid by ellipsoid_scaling, and require the new C-space polytope to contain this scaled ellipsoid. More... | |
double convergence_tol {1E-3} |
When the change of the cost function between two consecutive iterations in bilinear alternation is no larger than this number, stop the bilinear alternation.
Must be non-negative.
double ellipsoid_scaling {0.99} |
After finding the maximal inscribed ellipsoid in C-space polytope {s | C*s<=d, s_lower<=s<=s_upper}, we scale this ellipsoid by ellipsoid_scaling, and require the new C-space polytope to contain this scaled ellipsoid.
ellipsoid_scaling=1 corresponds to no scaling. Must be strictly positive and no greater than 1.
FindSeparationCertificateGivenPolytopeOptions find_lagrangian_options |
FindPolytopeGivenLagrangianOptions find_polytope_options |
int max_iter {10} |
The maximum number of bilinear alternation iterations.
Must be non-negative.