Loading [MathJax]/extensions/tex2jax.js
Drake
Drake C++ Documentation
All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Modules Pages
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_a {}
 unbounded certificate residue. More...
 
double residue_unbounded_p {}
 unbounded certificate residue. More...
 
double duality_gap {}
 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

◆ duality_gap

double duality_gap {}

duality gap.

Equal to SCS_INFO.gap.

◆ 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

◆ residue_infeasibility

double residue_infeasibility {}

infeasibility certificate residue.

Equal to SCS_INFO.res_infeas

◆ residue_unbounded_a

double residue_unbounded_a {}

unbounded certificate residue.

Equal to SCS_INFO.res_unbdd_a

◆ residue_unbounded_p

double residue_unbounded_p {}

unbounded certificate residue.

Equal to SCS_INFO.res_unbdd_p

◆ 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: