Add decision variables to SolverIterationInfo (#202)

SleipnirGroup · Dec 6, 2023 · 7aa9947 · 7aa9947
1 parent 0bec174
commit 7aa9947
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/include/sleipnir/optimization/SolverIterationInfo.hpp b/include/sleipnir/optimization/SolverIterationInfo.hpp
@@ -13,6 +13,9 @@ struct SolverIterationInfo {
   /// The solver iteration.
   int iteration;
 
+  /// The decision variables.
+  const Eigen::VectorXd& x;
+
   /// The gradient of the cost function.
   const Eigen::SparseVector<double>& g;
 

diff --git a/src/optimization/OptimizationProblem.cpp b/src/optimization/OptimizationProblem.cpp
@@ -486,7 +486,7 @@ Eigen::VectorXd OptimizationProblem::InteriorPoint(
     }
 
     // Call user callback
-    if (m_callback({iterations, g, H, A_e, A_i})) {
+    if (m_callback({iterations, x, g, H, A_e, A_i})) {
       status->exitCondition = SolverExitCondition::kCallbackRequestedStop;
       return x;
     }