Current parameters: ------------------------------------------------------------------------------------------------------ [int 1-3] exampleNo - Example number: 1 [double ] xLeft - Left side of interval: -5 [double >0] lengthX - Interval length: 10 [double >0] mu - mu/gamma: 1 [double >0] sigma - sigma: 0.8 [int >0] stateDim - State dimension: 199 ------------------------------------------------------------------------------------------------------ [int >0] controlDim - Control dimension: 199 [double ] controlLb - Lower bound of control: -10 [double ] controlUb - Upper bound of control: 10 ------------------------------------------------------------------------------------------------------ [double >0] lambda - Regularization parameter: 0.001 [double >0] alpha - alpha parameter in the cost functional: 10 [bool ] _trackStateContinuously - Track state over time?: 0 [bool ] _trackControlContinuously - Track control over time?: 0 ------------------------------------------------------------------------------------------------------ [int >0] horizon - MPC horizon: 1 [int >0] mpcSteps - MPC steps: 10 [double >0] mpcStepsize - MPC sampling rate: 0.5 [int >0] mpcStepsToImplement - MPC steps to implement: 1 ------------------------------------------------------------------------------------------------------ [bool ] compareGradients - Compare adj.-based gradient to num.: 0 [bool ] computeGradientNumerically - Compute gradient numerically: 0 [double >0] optimizerHu - Stepsize to compute grad. num.: 1e-06 [bool ] useDxpInGradient - Use integration by parts in adjoint-based gradient?: 1 [int 1-2] optMethod - Optimization method no.: 2 [bool ] useLinesearch - Use linesearch?: 0 [int 1-2] lesOptSolver - Linear system solver in optimization method: 1 [int >0] optimizerMaxSteps - Maximum number of optimizing iterations: 40000 [double >0] optimizerTol - Optimization error tolerance: 1e-05 [bool ] uInitFromFile - Read initial control guess from a file?: 0 ------------------------------------------------------------------------------------------------------ [int 1-2] odeMethod - ODE solver no.: 3 [double >0] dt - Ode solver step size: 0.01 [int 1-2] lesOdeSolver - Linear system solver in ODE solver: 1 ------------------------------------------------------------------------------------------------------ [int >0] iterativeLESMaxSteps - Max. number of iterations in linear system solver: 1000 [double >0] iterativeLESTol - Error tolerance in linear system solver: 1e-12 ------------------------------------------------------------------------------------------------------