Function predict_rho

src/tinympc/rho_benchmark.cpp:175–197

}

tinytype predict_rho(
    RhoAdapter* adapter,
    tinytype pri_res,
    tinytype dual_res,
    tinytype pri_norm,
    tinytype dual_norm,
    tinytype current_rho
) {
    const tinytype eps = 1e-10;
    
    tinytype normalized_pri = pri_res / (pri_norm + eps);
    tinytype normalized_dual = dual_res / (dual_norm + eps);
    
    tinytype ratio = normalized_pri / (normalized_dual + eps);
    
    tinytype new_rho = current_rho * std::sqrt(ratio);
    
    if (adapter->clip) {
        new_rho = std::min(std::max(new_rho, adapter->rho_min), adapter->rho_max);
    }
    
    return new_rho;
}

void update_matrices_with_derivatives(TinyCache* cache, tinytype new_rho) {
    tinytype delta_rho = new_rho - cache->rho;