| 114 | |
| 115 | template <std::size_t N_STATE, std::size_t N_CONTROL> |
| 116 | void ILQRSolver<N_STATE, N_CONTROL>::decrease_mu() { |
| 117 | _delta = std::min(1.0 / _ilqr_config.delta_0, _delta / _ilqr_config.delta_0); |
| 118 | _mu *= _delta; |
| 119 | if (_mu < _ilqr_config.min_mu) { |
| 120 | _mu = 0.0; |
| 121 | } |
| 122 | LOG(INFO) << "Iter " << _iter << ", decrease mu to " << _mu; |
| 123 | } |
| 124 | |
| 125 | template <std::size_t N_STATE, std::size_t N_CONTROL> |
| 126 | void ILQRSolver<N_STATE, N_CONTROL>::calculate_derivatives() { |
nothing calls this directly
no outgoing calls
no test coverage detected