hpp::constraints::solver::lineSearch::ErrorNormBased Struct Reference

The step size is computed using the formula \( \alpha_{i} = C - K \times \text{tanh}(a \frac{\|f(\mathbf{q}_i)\|}{\epsilon^2} + b) \), where. More...

#include <hpp/constraints/solver/hierarchical-iterative.hh>

Public Member Functions
	ErrorNormBased (value_type alphaMin, value_type _a, value_type _b)
	ErrorNormBased (value_type alphaMin=0.2)
template<typename SolverType >
bool	operator() (const SolverType &solver, vectorOut_t arg, vectorOut_t darg)

Public Attributes
value_type	C
value_type	K
value_type	a
value_type	b

Detailed Description

The step size is computed using the formula \( \alpha_{i} = C - K \times \text{tanh}(a \frac{\|f(\mathbf{q}_i)\|}{\epsilon^2} + b) \), where.

• \(\epsilon\) is the error threshold: if \(\|f(\mathbf{q}_i)\|<\epsilon\), \(\mathbf{q}_i\) is considered to satisfy the constraint.

Constructor & Destructor Documentation

ErrorNormBased() [1/2]

hpp::constraints::solver::lineSearch::ErrorNormBased::ErrorNormBased	(	value_type	alphaMin,
		value_type	_a,
		value_type	_b
	)

ErrorNormBased() [2/2]

hpp::constraints::solver::lineSearch::ErrorNormBased::ErrorNormBased

(

value_type

alphaMin = 0.2

)

Member Function Documentation

operator()()

template<typename SolverType >

bool hpp::constraints::solver::lineSearch::ErrorNormBased::operator() ( const SolverType &  solver, vectorOut_t  arg, vectorOut_t  darg  )

inline

Member Data Documentation

a

value_type hpp::constraints::solver::lineSearch::ErrorNormBased::a

b

value_type hpp::constraints::solver::lineSearch::ErrorNormBased::b

C

value_type hpp::constraints::solver::lineSearch::ErrorNormBased::C

K

value_type hpp::constraints::solver::lineSearch::ErrorNormBased::K