Drake
ScsSolverDetails Struct Reference

Detailed Description

The SCS solver details after calling Solve() function.

The user can call MathematicalProgramResult::get_solver_details<ScsSolver>() to obtain the details.

#include <drake/solvers/scs_solver.h>

Public Attributes

int scs_status {}
 The status of the solver at termination. More...
 
int iter {}
 These are the information returned by SCS at termination, please refer to "SCS_INFO" struct in https://github.com/cvxgrp/scs/blob/master/include/scs.h Number of iterations taken at termination. More...
 
double primal_objective {}
 Primal objective value at termination. More...
 
double dual_objective {}
 Dual objective value at termination. More...
 
double primal_residue {}
 Primal equality residue. More...
 
double residue_infeasibility {}
 infeasibility certificate residue. More...
 
double residue_unbounded {}
 unbounded certificate residue. More...
 
double relative_duality_gap {}
 relative duality gap. More...
 
double scs_setup_time {}
 Time taken for SCS to setup in milliseconds. More...
 
double scs_solve_time {}
 Time taken for SCS to solve in millisecond. More...
 
Eigen::VectorXd y
 The dual variable values at termination. More...
 
Eigen::VectorXd s
 The primal equality constraint slack, namely Ax + s = b where x is the primal variable. More...
 

Member Data Documentation

◆ dual_objective

double dual_objective {}

Dual objective value at termination.

Equal to SCS_INFO.dobj

◆ iter

int iter {}

These are the information returned by SCS at termination, please refer to "SCS_INFO" struct in https://github.com/cvxgrp/scs/blob/master/include/scs.h Number of iterations taken at termination.

Equal to SCS_INFO.iter

◆ primal_objective

double primal_objective {}

Primal objective value at termination.

Equal to SCS_INFO.pobj

◆ primal_residue

double primal_residue {}

Primal equality residue.

Equal to SCS_INFO.res_pri

◆ relative_duality_gap

double relative_duality_gap {}

relative duality gap.

Equal to SCS_INFO.rel_gap.

◆ residue_infeasibility

double residue_infeasibility {}

infeasibility certificate residue.

Equal to SCS_INFO.res_infeas

◆ residue_unbounded

double residue_unbounded {}

unbounded certificate residue.

Equal to SCS_INFO.res_unbdd

◆ s

Eigen::VectorXd s

The primal equality constraint slack, namely Ax + s = b where x is the primal variable.

◆ scs_setup_time

double scs_setup_time {}

Time taken for SCS to setup in milliseconds.

Equal to SCS_INFO.setup_time.

◆ scs_solve_time

double scs_solve_time {}

Time taken for SCS to solve in millisecond.

Equal to SCS_INFO.solve_time.

◆ scs_status

int scs_status {}

The status of the solver at termination.

Please refer to https://github.com/cvxgrp/scs/blob/master/include/glbopts.h Note that the SCS code on github master might be slightly more up-to-date than the version used in Drake.

◆ y

Eigen::VectorXd y

The dual variable values at termination.


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