59 lines
2.3 KiB
C#
59 lines
2.3 KiB
C#
namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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/// <summary>
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/// LS/ST QP 求解器的迭代预算、收敛容差和运行选项。
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/// </summary>
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public sealed class SolverConfiguration
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{
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/// <summary>
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/// 外层顺序凸化最大迭代次数；默认值 5，必须为正整数。
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/// </summary>
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public int MaximumOuterIterations { get; set; }
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/// <summary>
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/// 单次 OSQP 求解的最大迭代次数；默认值 4000，必须为正整数。
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/// </summary>
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public int MaximumOsqpIterations { get; set; }
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/// <summary>
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/// 求解器绝对残差容差；默认值 1e-5，必须为正有限值。
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/// </summary>
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public double AbsoluteTolerance { get; set; }
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/// <summary>
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/// 求解器相对残差容差；默认值 1e-5，必须为正有限值。
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/// </summary>
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public double RelativeTolerance { get; set; }
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/// <summary>
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/// 发布前接受解的严格残差容差；默认值 1e-5，必须为正有限值。
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/// </summary>
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public double StrictResidualTolerance { get; set; }
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/// <summary>
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/// 是否将上一轮可用解作为初值；无单位，默认值 <c>true</c>，仅接受布尔值。
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/// </summary>
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public bool WarmStart { get; set; }
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/// <summary>
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/// 是否请求 OSQP 进行结果修正；无单位，默认值 <c>true</c>，仅接受布尔值。
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/// </summary>
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public bool Polish { get; set; }
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/// <summary>
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/// 是否启用原生求解器诊断输出；无单位，默认值 <c>false</c>，仅接受布尔值。
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/// </summary>
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public bool NativeVerbose { get; set; }
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/// <summary>
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/// 复制当前求解器配置；输入为当前迭代预算、容差和布尔选项，输出为无共享可变状态的标量快照，不对数值作校验且不产生失败状态。
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/// </summary>
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internal SolverConfiguration Copy()
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{
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return new SolverConfiguration
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{
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MaximumOuterIterations = MaximumOuterIterations,
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MaximumOsqpIterations = MaximumOsqpIterations,
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AbsoluteTolerance = AbsoluteTolerance,
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RelativeTolerance = RelativeTolerance,
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StrictResidualTolerance = StrictResidualTolerance,
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WarmStart = WarmStart,
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Polish = Polish,
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NativeVerbose = NativeVerbose,
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};
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}
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}
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