SolverLqrParams.hpp

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#pragma once

namespace solverlqr {

  enum SolverLqrIntParam {
    // LQR-like algorithm parameters
    SolverLqrIntParam_Verbosity,
    SolverLqrIntParam_PrecisionDigits,
    SolverLqrIntParam_LqrMaxIterations,
    SolverLqrIntParam_BackPassRegulatizationType,

    // LQR problem parameters
    SolverLqrIntParam_TimeDimension,
    SolverLqrIntParam_StateDimension,
    SolverLqrIntParam_ControlDimension,

    // LQR Optimization Info parameters
    SolverLqrIntParam_CurrentIteration,
    SolverLqrIntParam_BackpassDivergeIteration,
  };

  enum SolverLqrBoolParam {
    // LQR-like algorithm parameters
    SolverLqrBoolParam_StoreData,

    // LQR problem parameters
    SolverLqrBoolParam_HasControlLimits,
    SolverLqrBoolParam_UseRungeKuttaIntegration,
  };

  enum SolverLqrDoubleParam {
    // LQR-like algorithm parameters
    SolverLqrDoubleParam_CostChangeTolerance,
    SolverLqrDoubleParam_DivergenceLimitCheck,
    SolverLqrDoubleParam_ControlGradientTolerance,
    SolverLqrDoubleParam_BackPassMinRegularization,
    SolverLqrDoubleParam_BackPassMaxRegularization,
    SolverLqrDoubleParam_MinExpectedCostImprovement,
    SolverLqrDoubleParam_BackPassInitialRegularization,
    SolverLqrDoubleParam_BackPassMultRegularizationIncr,
    SolverLqrDoubleParam_BackPassInitialMultRegularizationIncr,

    // LQR problem parameters
    SolverLqrDoubleParam_TimeStep,
    SolverLqrDoubleParam_TimeHorizon,

    // LQR Optimization Info parameters
    SolverLqrDoubleParam_Cost,
    SolverLqrDoubleParam_CostChange,
    SolverLqrDoubleParam_ExpectedCost,
    SolverLqrDoubleParam_ControlGradient,
    SolverLqrDoubleParam_CurrentRegularization,
  };

  enum SolverLqrStringParam {
    // Storage information
    SolverLqrStringParam_ConfigFile,
    SolverLqrStringParam_SaveLqrFile,
  };

  enum SolverLqrVectorParam {
    // LQR-like algorithm parameters
    SolverLqrVectorParam_LineSearchCoeffs,

    // LQR problem parameters
    SolverLqrVectorParam_InitialState,
    SolverLqrVectorParam_MinControlLimits,
    SolverLqrVectorParam_MaxControlLimits,
  };

  enum SolverLqrYamlParam {
    // LQR problem parameters
    SolverLqrYamlParam_UserParameters,
  };

}