alphaville / optimization-engine

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support
https://alphaville.github.io/optimization-engine/
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Additional termination criterion #70

Closed alphaville closed 5 years ago

alphaville commented 5 years ago

Is your feature request related to a problem? Please describe. We need an additional termination criterion. For the problem:

Minimise_u f(u)
subj. to: u in U

we need to add the termination condition:

|| r + df(u_bar) - df(u) || <= eps,

where r is the fixed-point residual, df is the gradient of f, u_bar is the proximal gradient step that corresponds to u and and eps is a user-specified tolerance.

Describe the solution you'd like The termination condition is inactive (e.g., we can use an Option<f64> for the tolerance parameter).

Describe alternatives you've considered N/A

Additional context We need this in order to implement ALM.