cmvr-es/dependency/arm/third_party/osqp-eigen/v0.10.1/include/OsqpEigen/Settings.hpp

/**
 * @file Settings.hpp
 * @author Giulio Romualdi
 * @copyright  Released under the terms of the BSD 3-Clause License
 * @date 2018
 */

#ifndef OSQPEIGEN_SETTINGS_HPP
#define OSQPEIGEN_SETTINGS_HPP

// OSQP
#include <osqp.h>

/**
 * OsqpEigen namespace.
 */
namespace OsqpEigen
{
/**
 * settings class is a wrapper of the OSQP OSQPSettings struct.
 * All the setter methods refer to this particular kind of optimizer.
 * <a href="http://web.stanford.edu/~boyd/admm.html">Here</a>
 * you can find further information.
 */
class Settings
{
    OSQPSettings* m_settings; /**< OSQPSettings struct. */
public:
    /**
     * Constructor.
     */
    Settings();

    /**
     * Deconstructor.
     */
    ~Settings();

    /**
     * Reset the default settings for the optimization problem.
     */
    void resetDefaultSettings();

    /**
     * Set the ADMM step rho.
     * @param rho a ADMM step constant.
     */
    void setRho(const double rho);

    /**
     * Set the ADMM step sigma.
     * @param sigma a ADMM step constant.
     */
    void setSigma(const double sigma);

    /**
     * Set the heuristic data scaling iterations. If 0, scaling disabled.
     * @param scaling is the heuristic data scaling iteration.
     */
    void setScaling(const int scaling);

    /**
     * Set if the rho step size adaptive feature is active.
     * @param isRhoStepSizeAdactive if True the feature is active.
     */
    void setAdaptiveRho(const bool isRhoStepSizeAdactive);

    /**
     * Set the number of iterations between rho adaptations rho. If 0, it is automatic.
     * @param rhoInterval number of iterations.
     */
    void setAdaptiveRhoInterval(const int rhoInterval);

    /**
     * Set the tolerance for adapting rho. The new rho has to be X times larger or 1/X times
     * smaller than the current one to trigger a new factorization.
     * @param adaptiveRhoTolerance is the tolerance.
     */
    void setAdaptiveRhoTolerance(const double adaptiveRhoTolerance);

    /**
     * Set the interval for adapting rho (fraction of the setup time).
     * @param adaptiveRhoFraction interval of the adapting rho.
     */
    void setAdaptiveRhoFraction(const double adaptiveRhoFraction);

    /**
     * Set the max number of iterations.
     * @param maxIteration max number of iteration
     */
    [[deprecated("Use setMaxIteration(int) instead.")]] void
    setMaxIteraction(const int maxIteration);

    /**
     * Set the max number of iterations.
     * @param maxIteration max number of iteration
     */
    void setMaxIteration(const int maxIteration);

    /**
     * Set the absolute convergence tolerance.
     * @param absoluteTolerance absolute tolerance of the solver.
     */
    void setAbsoluteTolerance(const double absoluteTolerance);

    /**
     * Set the relative convergence tolerance.
     * @param relativeTolerance relative tolerance of the solver.
     */
    void setRelativeTolerance(const double relativeTolerance);

    /**
     * Set the primal infeasibility tolerance.
     * @param primalInfeasibilityTolerance tolerance of the primal variables.
     */
    [[deprecated("Use setPrimalInfeasibilityTolerance() instead.")]] void
    setPrimalInfeasibilityTollerance(const double primalInfeasibilityTolerance);

    /**
     * Set the primal infeasibility tolerance.
     * @param primalInfeasibilityTolerance tolerance of the primal variables.
     */
    void setPrimalInfeasibilityTolerance(const double primalInfeasibilityTolerance);

    /**
     * Set the dual infeasibility tolerance.
     * @param dualInfeasibilityTolerance tolerance of the dual variables.
     */
    [[deprecated("Use setDualInfeasibilityTolerance() instead.")]] void
    setDualInfeasibilityTollerance(const double dualInfeasibilityTolerance);

    /**
     * Set the dual infeasibility tolerance.
     * @param dualInfeasibilityTolerance tolerance of the dual variables.
     */
    void setDualInfeasibilityTolerance(const double dualInfeasibilityTolerance);

    /**
     * Set the relaxation parameter.
     * @param alpha is the relaxation parameter.
     */
    void setAlpha(const double alpha);

    /**
     * Set linear solver
     * @param linsysSolver is the name of the solver
     */
    void setLinearSystemSolver(const int linsysSolver);

    /**
     * Set the relaxation parameter for polish.
     * @param delta is the relaxation parameter.
     */
    void setDelta(const double delta);

    /**
     * Set if the polish feature is active.
     * @param polish if True the feature is active.
     */
    void setPolish(const bool polish);

    /**
     * Set the iterative refinement steps in polish.
     * @param polishRefineIter iterative refinement step.
     */
    void setPolishRefineIter(const int polishRefineIter);

    /**
     * Set the Verbose mode.
     * @param isVerbose if true the verbose mode is activate.
     */
    void setVerbosity(const bool isVerbose);

    /**
     * Set the scaled termination criteria.
     * @param scaledTermination if true the scaled termination criteria is used.
     */
    void setScaledTerimination(const bool scaledTermination);

    /**
     * Set check termination interval. If 0, termination checking is disabled.
     * @param checkTermination if 0 the termination checking is disabled.
     */
    void setCheckTermination(const int checkTermination);

    /**
     * Set check duality gap termination criteria.
     * @param checkDualGap If true, duality gap checking is enabled.
     */
    void setCheckDualGap(const bool checkDualGap);

    /**
     * Set warm start.
     * @param warmStart if true the warm start is set.
     */
    void setWarmStart(const bool warmStart);

    /**
     * Set the maximum number of seconds allowed to solve the problem.
     * @param timeLimit is the time limit in seconds. If 0, then disabled.
     */
    void setTimeLimit(const double timeLimit);

    /**
     * Get a pointer to Settings struct.
     * @return a const pointer to OSQPSettings struct.
     */
    OSQPSettings* const& getSettings() const;
};
} // namespace OsqpEigen

#endif