COPP C ABI
C interface for COPP trajectory optimization
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CoppClarabelSettings Struct Reference
Copp_core

Advanced raw Clarabel solver settings. More...

#include <core.h>

Data Fields

uint32_t max_iter
 Maximum number of interior-point iterations.
double time_limit
 Maximum solve time in seconds.
bool verbose
 Enable Clarabel's internal solver log.
double max_step_fraction
 Maximum interior-point step length.
double tol_gap_abs
 Absolute duality-gap tolerance.
double tol_gap_rel
 Relative duality-gap tolerance.
double tol_feas
 Primal/dual feasibility tolerance.
double tol_infeas_abs
 Absolute infeasibility tolerance.
double tol_infeas_rel
 Relative infeasibility tolerance.
double tol_ktratio
 Kappa/tau tolerance.
double reduced_tol_gap_abs
 Reduced absolute duality-gap tolerance for almost-solved status.
double reduced_tol_gap_rel
 Reduced relative duality-gap tolerance for almost-solved status.
double reduced_tol_feas
 Reduced feasibility tolerance for almost-solved status.
double reduced_tol_infeas_abs
 Reduced absolute infeasibility tolerance for almost-solved status.
double reduced_tol_infeas_rel
 Reduced relative infeasibility tolerance for almost-solved status.
double reduced_tol_ktratio
 Reduced kappa/tau tolerance for almost-solved status.
bool equilibrate_enable
 Enable data equilibration before solving.
uint32_t equilibrate_max_iter
 Maximum number of equilibration iterations.
double equilibrate_min_scaling
 Minimum equilibration scaling.
double equilibrate_max_scaling
 Maximum equilibration scaling.
double linesearch_backtrack_step
 Backtracking factor used by the line search.
double min_switch_step_length
 Minimum step length for asymmetric-cone switching.
double min_terminate_step_length
 Minimum step length for termination checks.
uint32_t max_threads
 Maximum solver threads.
bool direct_kkt_solver
 Whether to use a direct KKT solver.
enum CoppClarabelDirectSolveMethod direct_solve_method
 Direct linear solver method.
bool static_regularization_enable
 Enable static KKT regularization.
double static_regularization_constant
 Static KKT regularization constant.
double static_regularization_proportional
 Static KKT regularization proportional term.
bool dynamic_regularization_enable
 Enable dynamic KKT regularization.
double dynamic_regularization_eps
 Dynamic regularization threshold.
double dynamic_regularization_delta
 Dynamic regularization shift.
bool iterative_refinement_enable
 Enable iterative refinement for direct solves.
double iterative_refinement_reltol
 Iterative-refinement relative tolerance.
double iterative_refinement_abstol
 Iterative-refinement absolute tolerance.
uint32_t iterative_refinement_max_iter
 Iterative-refinement maximum iterations.
double iterative_refinement_stop_ratio
 Iterative-refinement stalling ratio.
bool presolve_enable
 Enable Clarabel presolve.
bool input_sparse_dropzeros
 Drop structural zeros from sparse inputs before solving.

Detailed Description

Advanced raw Clarabel solver settings.

This mirrors the clarabel::solver::DefaultSettings<f64> fields available in the current build. Optional Clarabel backends, such as FAER or Pardiso, are selected through direct_solve_method; if the linked Clarabel was not compiled with that backend, the solve returns a solver/options error.

Definition at line 465 of file core.h.

Field Documentation

◆ max_iter

uint32_t CoppClarabelSettings::max_iter

Maximum number of interior-point iterations.

Definition at line 469 of file core.h.

◆ time_limit

double CoppClarabelSettings::time_limit

Maximum solve time in seconds.

Definition at line 473 of file core.h.

◆ verbose

bool CoppClarabelSettings::verbose

Enable Clarabel's internal solver log.

Definition at line 477 of file core.h.

◆ max_step_fraction

double CoppClarabelSettings::max_step_fraction

Maximum interior-point step length.

Definition at line 481 of file core.h.

◆ tol_gap_abs

double CoppClarabelSettings::tol_gap_abs

Absolute duality-gap tolerance.

Definition at line 485 of file core.h.

◆ tol_gap_rel

double CoppClarabelSettings::tol_gap_rel

Relative duality-gap tolerance.

Definition at line 489 of file core.h.

◆ tol_feas

double CoppClarabelSettings::tol_feas

Primal/dual feasibility tolerance.

Definition at line 493 of file core.h.

◆ tol_infeas_abs

double CoppClarabelSettings::tol_infeas_abs

Absolute infeasibility tolerance.

Definition at line 497 of file core.h.

◆ tol_infeas_rel

double CoppClarabelSettings::tol_infeas_rel

Relative infeasibility tolerance.

Definition at line 501 of file core.h.

◆ tol_ktratio

double CoppClarabelSettings::tol_ktratio

Kappa/tau tolerance.

Definition at line 505 of file core.h.

◆ reduced_tol_gap_abs

double CoppClarabelSettings::reduced_tol_gap_abs

Reduced absolute duality-gap tolerance for almost-solved status.

Definition at line 509 of file core.h.

◆ reduced_tol_gap_rel

double CoppClarabelSettings::reduced_tol_gap_rel

Reduced relative duality-gap tolerance for almost-solved status.

Definition at line 513 of file core.h.

◆ reduced_tol_feas

double CoppClarabelSettings::reduced_tol_feas

Reduced feasibility tolerance for almost-solved status.

Definition at line 517 of file core.h.

◆ reduced_tol_infeas_abs

double CoppClarabelSettings::reduced_tol_infeas_abs

Reduced absolute infeasibility tolerance for almost-solved status.

Definition at line 521 of file core.h.

◆ reduced_tol_infeas_rel

double CoppClarabelSettings::reduced_tol_infeas_rel

Reduced relative infeasibility tolerance for almost-solved status.

Definition at line 525 of file core.h.

◆ reduced_tol_ktratio

double CoppClarabelSettings::reduced_tol_ktratio

Reduced kappa/tau tolerance for almost-solved status.

Definition at line 529 of file core.h.

◆ equilibrate_enable

bool CoppClarabelSettings::equilibrate_enable

Enable data equilibration before solving.

Definition at line 533 of file core.h.

◆ equilibrate_max_iter

uint32_t CoppClarabelSettings::equilibrate_max_iter

Maximum number of equilibration iterations.

Definition at line 537 of file core.h.

◆ equilibrate_min_scaling

double CoppClarabelSettings::equilibrate_min_scaling

Minimum equilibration scaling.

Definition at line 541 of file core.h.

◆ equilibrate_max_scaling

double CoppClarabelSettings::equilibrate_max_scaling

Maximum equilibration scaling.

Definition at line 545 of file core.h.

◆ linesearch_backtrack_step

double CoppClarabelSettings::linesearch_backtrack_step

Backtracking factor used by the line search.

Definition at line 549 of file core.h.

◆ min_switch_step_length

double CoppClarabelSettings::min_switch_step_length

Minimum step length for asymmetric-cone switching.

Definition at line 553 of file core.h.

◆ min_terminate_step_length

double CoppClarabelSettings::min_terminate_step_length

Minimum step length for termination checks.

Definition at line 557 of file core.h.

◆ max_threads

uint32_t CoppClarabelSettings::max_threads

Maximum solver threads.

0 lets Clarabel choose.

Definition at line 561 of file core.h.

◆ direct_kkt_solver

bool CoppClarabelSettings::direct_kkt_solver

Whether to use a direct KKT solver.

Clarabel currently requires true.

Definition at line 565 of file core.h.

◆ direct_solve_method

enum CoppClarabelDirectSolveMethod CoppClarabelSettings::direct_solve_method

Direct linear solver method.

Definition at line 569 of file core.h.

◆ static_regularization_enable

bool CoppClarabelSettings::static_regularization_enable

Enable static KKT regularization.

Definition at line 573 of file core.h.

◆ static_regularization_constant

double CoppClarabelSettings::static_regularization_constant

Static KKT regularization constant.

Definition at line 577 of file core.h.

◆ static_regularization_proportional

double CoppClarabelSettings::static_regularization_proportional

Static KKT regularization proportional term.

Definition at line 581 of file core.h.

◆ dynamic_regularization_enable

bool CoppClarabelSettings::dynamic_regularization_enable

Enable dynamic KKT regularization.

Definition at line 585 of file core.h.

◆ dynamic_regularization_eps

double CoppClarabelSettings::dynamic_regularization_eps

Dynamic regularization threshold.

Definition at line 589 of file core.h.

◆ dynamic_regularization_delta

double CoppClarabelSettings::dynamic_regularization_delta

Dynamic regularization shift.

Definition at line 593 of file core.h.

◆ iterative_refinement_enable

bool CoppClarabelSettings::iterative_refinement_enable

Enable iterative refinement for direct solves.

Definition at line 597 of file core.h.

◆ iterative_refinement_reltol

double CoppClarabelSettings::iterative_refinement_reltol

Iterative-refinement relative tolerance.

Definition at line 601 of file core.h.

◆ iterative_refinement_abstol

double CoppClarabelSettings::iterative_refinement_abstol

Iterative-refinement absolute tolerance.

Definition at line 605 of file core.h.

◆ iterative_refinement_max_iter

uint32_t CoppClarabelSettings::iterative_refinement_max_iter

Iterative-refinement maximum iterations.

Definition at line 609 of file core.h.

◆ iterative_refinement_stop_ratio

double CoppClarabelSettings::iterative_refinement_stop_ratio

Iterative-refinement stalling ratio.

Definition at line 613 of file core.h.

◆ presolve_enable

bool CoppClarabelSettings::presolve_enable

Enable Clarabel presolve.

Definition at line 617 of file core.h.

◆ input_sparse_dropzeros

bool CoppClarabelSettings::input_sparse_dropzeros

Drop structural zeros from sparse inputs before solving.

Definition at line 621 of file core.h.

The documentation for this struct was generated from the following file:
  • bindings/c/include/copp/core.h