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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.

Constructor & Destructor Documentation

hpp::constraints::solver::lineSearch::ErrorNormBased::ErrorNormBased ( value_type  alphaMin,
value_type  _a,
value_type  _b 
)
hpp::constraints::solver::lineSearch::ErrorNormBased::ErrorNormBased ( value_type  alphaMin = 0.2)

Member Function Documentation

template<typename SolverType >
bool hpp::constraints::solver::lineSearch::ErrorNormBased::operator() ( const SolverType &  solver,
vectorOut_t  arg,
vectorOut_t  darg 
)
inline

References a, b, C, and K.

Member Data Documentation

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

Referenced by operator()().

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

Referenced by operator()().

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

Referenced by operator()().

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

Referenced by operator()().