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:

drake/solvers/scs_solver.h