Skip to content

Cleanup #144 #145

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
astomodynamics merged 1 commit into from
Jul 19, 2025
Merged

Cleanup #144 #145

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 0 additions & 20 deletions src/cddp_core/ipddp_solver.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1847,11 +1847,6 @@ namespace cddp
mu_ = std::max(barrier_opts.mu_min_value,
barrier_opts.mu_update_factor * mu_);
resetFilter(context);
if (options.debug)
{
std::cout << "[IPDDP Barrier] Monotonic update: μ = "
<< std::scientific << std::setprecision(2) << mu_ << std::endl;
}
break;
}

Expand All @@ -1862,7 +1857,6 @@ namespace cddp
double error_k = std::max({scaled_inf_du, context.inf_pr_, context.inf_comp_});

// IPOPT uses: μ_new = max(ε_tol/10, min(κ_μ * μ, μ^θ_μ))
// where update happens when error_k ≤ κ_ε * μ
double kappa_epsilon = 10.0; // IPOPT default

if (error_k <= kappa_epsilon * mu_)
Expand All @@ -1872,13 +1866,6 @@ namespace cddp
mu_ = std::max(options.tolerance / 10.0,
std::min(new_mu_linear, new_mu_superlinear));
resetFilter(context);
if (options.debug)
{
std::cout << "[IPDDP Barrier] IPOPT update: error = "
<< std::scientific << std::setprecision(2) << error_k
<< " ≤ " << kappa_epsilon << " * μ = " << kappa_epsilon * mu_
<< " → μ = " << mu_ << std::endl;
}
}
break;
}
Expand Down Expand Up @@ -1929,13 +1916,6 @@ namespace cddp

// Reset filter when barrier parameter changes
resetFilter(context);

if (options.debug)
{
std::cout << "[IPDDP Barrier] Adaptive update: termination metric = "
<< std::scientific << std::setprecision(2) << termination_metric
<< " → μ = " << mu_ << std::endl;
}
}
break;
}
Expand Down
19 changes: 0 additions & 19 deletions src/cddp_core/msipddp_solver.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2262,11 +2262,6 @@ namespace cddp
mu_ = std::max(barrier_opts.mu_min_value,
barrier_opts.mu_update_factor * mu_);
resetFilter(context);
if (options.debug)
{
std::cout << "[MSIPDDP Barrier] Monotonic update: μ = "
<< std::scientific << std::setprecision(2) << mu_ << std::endl;
}
break;
}

Expand All @@ -2286,13 +2281,6 @@ namespace cddp
mu_ = std::max(options.tolerance / 10.0,
std::min(new_mu_linear, new_mu_superlinear));
resetFilter(context);
if (options.debug)
{
std::cout << "[MSIPDDP Barrier] IPOPT update: error = "
<< std::scientific << std::setprecision(2) << error_k
<< " ≤ " << kappa_epsilon << " * μ = " << kappa_epsilon * mu_
<< " → μ = " << mu_ << std::endl;
}
}
break;
}
Expand Down Expand Up @@ -2367,13 +2355,6 @@ namespace cddp

// Reset filter when barrier parameter changes
resetFilter(context);

if (options.debug)
{
std::cout << "[MSIPDDP Barrier] Adaptive update: termination metric = "
<< std::scientific << std::setprecision(2) << termination_metric
<< " → μ = " << mu_ << std::endl;
}
}
break;
}
Expand Down
Loading