ADCS.controller.saltro.SALTRO_pass_settings module

Pass-level SALTRO optimization settings.

This module defines Python configuration dataclasses for solver costs, regularization, line search, and loop limits, with helpers to convert each configuration block to the corresponding SALTRO C++ struct.

class ADCS.controller.saltro.SALTRO_pass_settings.PassConfig(cost=<factory>, aug_lag=<factory>, ilqr=<factory>, reg=<factory>, linesearch=<factory>, dt=5.0)

Bases: object

Composite settings for one SALTRO optimization pass.

A pass bundles cost, augmented-Lagrangian, iLQR, regularization, and line-search configuration with a fixed planning timestep dt.

Parameters:

• cost (CostConfig) – Cost-function configuration.

• aug_lag (AugLagConfig) – Augmented-Lagrangian outer-loop configuration.

• ilqr (ILQRConfig) – iLQR middle-loop configuration.

• reg (RegularizationConfig) – Regularization configuration.

• linesearch (LineSearchConfig) – Line-search configuration.

• dt (float) – Planner timestep in seconds.

to_cpp()

Convert Python settings to SALTRO C++ PassConfig.

Returns:

C++ pass config object.

Return type:

Any

aug_lag: AugLagConfig

cost: CostConfig

dt: float = 5.0

ilqr: ILQRConfig

linesearch: LineSearchConfig

reg: RegularizationConfig