linesearch : remove getter and setter for options, make struct public

Simple-Robotics · Oct 29, 2024 · e9ccee0 · e9ccee0
1 parent 78833d1
commit e9ccee0
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Showing 3 changed files with 21 additions and 16 deletions.
diff --git a/bindings/python/expose-solver.cpp b/bindings/python/expose-solver.cpp
@@ -57,7 +57,14 @@ void exposeSolver() {
       .value("LDLT_PROXSUITE", LDLTChoice::PROXSUITE)
       .export_values();
 
-  using LinesearchOptions = Linesearch<Scalar>::Options;
+  using Linesearch = Linesearch<Scalar>;
+  using LinesearchOptions = Linesearch::Options;
+  bp::class_<Linesearch>("Linesearch", bp::no_init)
+      .def(bp::init<const LinesearchOptions &>(("self"_a, "options")))
+      .def_readwrite("options", &Linesearch::options_);
+  bp::class_<ArmijoLinesearch<Scalar>, bp::bases<Linesearch>>(
+      "ArmijoLinesearch", bp::no_init)
+      .def(bp::init<const LinesearchOptions &>(("self"_a, "options")));
   bp::class_<LinesearchOptions>("LinesearchOptions", "Linesearch options.",
                                 bp::init<>(("self"_a), "Default constructor."))
       .def_readwrite("armijo_c1", &LinesearchOptions::armijo_c1)

diff --git a/include/proxsuite-nlp/linesearch-armijo.hpp b/include/proxsuite-nlp/linesearch-armijo.hpp
@@ -45,6 +45,7 @@ template <typename Scalar>
 class ArmijoLinesearch final : public Linesearch<Scalar> {
 public:
   using Base = Linesearch<Scalar>;
+  using Base::options_;
   using FunctionSample = typename Base::FunctionSample;
   using Polynomial = PolynomialTpl<Scalar>;
   using VectorXs = typename math_types<Scalar>::VectorXs;
@@ -71,26 +72,26 @@ class ArmijoLinesearch final : public Linesearch<Scalar> {
         break;
       } catch (const std::runtime_error &e) {
         alpha_try *= 0.5;
-        if (alpha_try <= options().alpha_min) {
-          alpha_try = options().alpha_min;
+        if (alpha_try <= options_.alpha_min) {
+          alpha_try = options_.alpha_min;
           break;
         }
       }
     }
 
-    if (std::abs(dphi0) < options().dphi_thresh) {
+    if (std::abs(dphi0) < options_.dphi_thresh) {
       return latest.phi;
     }
 
-    for (std::size_t i = 0; i < options().max_num_steps; i++) {
+    for (std::size_t i = 0; i < options_.max_num_steps; i++) {
 
       const Scalar dM = latest.phi - phi0;
-      if (dM <= options().armijo_c1 * alpha_try * dphi0) {
+      if (dM <= options_.armijo_c1 * alpha_try * dphi0) {
         break;
       }
 
       // compute next alpha try
-      LSInterpolation strat = options().interp_type;
+      LSInterpolation strat = options_.interp_type;
       if (strat == LSInterpolation::BISECTION) {
         alpha_try *= 0.5;
       } else {
@@ -119,15 +120,15 @@ class ArmijoLinesearch final : public Linesearch<Scalar> {
         }
 
         alpha_try = this->minimize_interpolant(
-            strat, options().contraction_min * alpha_try,
-            options().contraction_max * alpha_try);
+            strat, options_.contraction_min * alpha_try,
+            options_.contraction_max * alpha_try);
       }
 
       if (std::isnan(alpha_try)) {
         // handle NaN case
-        alpha_try = options().contraction_min * previous.alpha;
+        alpha_try = options_.contraction_min * previous.alpha;
       } else {
-        alpha_try = std::max(alpha_try, options().alpha_min);
+        alpha_try = std::max(alpha_try, options_.alpha_min);
       }
 
       try {
@@ -137,11 +138,11 @@ class ArmijoLinesearch final : public Linesearch<Scalar> {
         continue;
       }
 
-      if (alpha_try <= options().alpha_min) {
+      if (alpha_try <= options_.alpha_min) {
         break;
       }
     }
-    alpha_try = std::max(alpha_try, options().alpha_min);
+    alpha_try = std::max(alpha_try, options_.alpha_min);
     return latest.phi;
   }
 
@@ -221,7 +222,6 @@ class ArmijoLinesearch final : public Linesearch<Scalar> {
   }
 
 protected:
-  using Base::options;
   Polynomial interpolant;
   std::vector<FunctionSample> samples; // interpolation samples
 };

diff --git a/include/proxsuite-nlp/linesearch-base.hpp b/include/proxsuite-nlp/linesearch-base.hpp
@@ -52,12 +52,10 @@ template <typename T> class Linesearch {
     FunctionSample(T a, T v, T g) : alpha(a), phi(v), dphi(g), valid(true) {}
   };
 
-  const Linesearch::Options &options() const { return options_; }
   void setOptions(const Linesearch::Options &options) { options_ = options; }
 
   void reset() {}
 
-private:
   Linesearch::Options options_;
 };