9 #include "crocoddyl/core/utils/callbacks.hpp" 13 CallbackVerbose::CallbackVerbose(VerboseLevel level) : CallbackAbstract(), level(level) {}
15 CallbackVerbose::~CallbackVerbose() {}
19 std::cout <<
"iter cost stop grad xreg ureg step ||ffeas||";
22 std::cout <<
" dV-exp dV";
27 std::cout << std::endl;
30 std::cout << std::setw(4) << solver.
get_iter() <<
" ";
31 std::cout << std::scientific << std::setprecision(5) << solver.
get_cost() <<
" ";
32 std::cout << solver.
get_stop() <<
" " << -solver.
get_d()[1] <<
" ";
34 std::cout << std::fixed << std::setprecision(4) << solver.
get_steplength() <<
" ";
35 std::cout << std::scientific << std::setprecision(5) << solver.
get_ffeas();
38 std::cout <<
" " << std::scientific << std::setprecision(5) << solver.
get_dVexp() <<
" ";
39 std::cout << solver.
get_dV();
44 std::cout << std::endl;
45 std::cout << std::flush;
std::size_t get_iter() const
Return the number of iterations performed by the solver.
double get_stop() const
Return the value computed by stoppingCriteria()
double get_ffeas() const
Return the feasibility of the dynamic constraints of the current guess.
double get_dVexp() const
Return the expected cost reduction .
double get_xreg() const
Return the state regularization value.
double get_cost() const
Return the total cost.
Abstract class for optimal control solvers.
double get_dV() const
Return the cost reduction .
virtual void operator()(SolverAbstract &solver)
Run the callback function given a solver.
const Eigen::Vector2d & get_d() const
Return the LQ approximation of the expected improvement.
double get_ureg() const
Return the control regularization value.
double get_steplength() const
Return the step length .