Drake
BMIspotless Class Reference

Inheritance diagram for BMIspotless:
Collaboration diagram for BMIspotless:

## Public Member Functions

function BMIspotless ()

function optimize (obj, w_guess)

function descentDirection (obj, sol_w, sol_W)

function plotSolution (obj, sol, sol_bilinear)
This function can be reloaded. More...

function retrieveSolution (obj, solver_sol)

## Public Attributes

Property res_tol

Property itr_max

Property alpha_covW

Property trial_max

Property early_terminate_itr
At early_terminate_itr, the program will check the residue, if the residue is larger than early_terminate_tol, the program will terminate, as the problem is unlikely to converge. More...

Property early_terminate_tol

Property plot_iteration

Property final_backoff_flag

Property final_backoff_scale

Property use_lcmgl

Property w

Property W

Property blk1s

## Detailed Description

If not, call 'checkDependency('spotless')'

## Constructor & Destructor Documentation

 function BMIspotless ( )

If not, call 'checkDependency('spotless')'

Return values
 obj

## Member Function Documentation

 function addBilinearVariable ( obj , w_new , W_new )
Return values
 w_new_ind The indices of w_new in obj.w, obj.w(w_new_ind) = w_new;
 function descentDirection ( obj , sol_w , sol_W )
Return values
 w_direction
 function optimize ( obj , w_guess )
Parameters
 w_guess A guess value for obj.w, default is zero
Return values
 info – 0, the rank relaxed problem is infeasible – 1, the problem converges – 2, the problem does not converge within maximal allowable iterations – 3, at iterations obj.early_terminate_itr, the residue is still larger than obj.early_terminate_tol. So the program does an early termination, as it is unlikely to converge.
 function plotSolution ( obj , sol , sol_bilinear )

If obj.plot_iteration = true, this function is called in every iteration

 function retrieveSolution ( obj , solver_sol )
Return values
 sol sol_bilinear

## Member Data Documentation

 Property alpha_covW
 Property blk1s
protected
 Property early_terminate_itr

At early_terminate_itr, the program will check the residue, if the residue is larger than early_terminate_tol, the program will terminate, as the problem is unlikely to converge.

early_terminate_itr should be less than itr_max

 Property early_terminate_tol
 Property final_backoff_flag
 Property final_backoff_scale
 Property itr_max
 Property plot_iteration
 Property res_tol
 Property trial_max
 Property use_lcmgl
 Property w
protected
 Property W
protected

The documentation for this class was generated from the following file:
• /home/ubuntu/workspace/linux-gcc-continuous-matlab-documentation/drake/matlab/solvers/BMI/BMIspotless.m