Add configurable barrier update strategies for interior point methods

[astomodynamics]

Summary

• Add BarrierStrategy enum with three options: ADAPTIVE (default), MONOTONIC, and IPOPT
• Implement all three strategies in both IPDDP and MSIPDDP solvers
• Add test example demonstrating the different barrier update strategies

Details

This PR introduces configurable barrier parameter update strategies for the interior point methods (IPDDP and MSIPDDP). Users can now choose between:

1. ADAPTIVE (default): The current adaptive strategy that adjusts barrier reduction based on KKT progress
2. MONOTONIC: Always reduces μ by a fixed factor, providing consistent barrier decrease
3. IPOPT: Uses IPOPT-style criterion where μ is only updated when error_k ≤ κ_ε * μ

The implementation maintains backward compatibility by keeping ADAPTIVE as the default strategy.

Test plan

• Added test_barrier_strategies.cpp example that tests all three strategies
• Verified compilation and execution of the test example
• Confirmed default behavior remains unchanged

[cursor]

Bug: Incorrect Debug Output for Barrier Strategy

The debug output for the IPOPT barrier strategy incorrectly displays the threshold kappa_epsilon * mu_. The value of mu_ used in the debug message is the updated value, not the original value that was used in the condition check (error_k <= kappa_epsilon * mu_), making the output misleading.

src/cddp_core/ipddp_solver.cpp#L1867-L1881

cddp-cpp/src/cddp_core/ipddp_solver.cpp

Lines 1867 to 1881 in f69f891

	if (error_k <= kappa_epsilon * mu_)
	{
	double new_mu_linear = barrier_opts.mu_update_factor * mu_;
	double new_mu_superlinear = std::pow(mu_, barrier_opts.mu_update_power);
	mu_ = std::max(options.tolerance / 10.0,
	std::min(new_mu_linear, new_mu_superlinear));
	resetFilter(context);
	if (options.debug)
	{
	std::cout << "[IPDDP Barrier] IPOPT update: error = "
	<< std::scientific << std::setprecision(2) << error_k
	<< " ≤ " << kappa_epsilon << " * μ = " << kappa_epsilon * mu_
	<< " → μ = " << mu_ << std::endl;
	}

src/cddp_core/msipddp_solver.cpp#L2281-L2295

cddp-cpp/src/cddp_core/msipddp_solver.cpp

Lines 2281 to 2295 in f69f891

	if (error_k <= kappa_epsilon * mu_)
	{
	double new_mu_linear = barrier_opts.mu_update_factor * mu_;
	double new_mu_superlinear = std::pow(mu_, barrier_opts.mu_update_power);
	mu_ = std::max(options.tolerance / 10.0,
	std::min(new_mu_linear, new_mu_superlinear));
	resetFilter(context);
	if (options.debug)
	{
	std::cout << "[MSIPDDP Barrier] IPOPT update: error = "
	<< std::scientific << std::setprecision(2) << error_k
	<< " ≤ " << kappa_epsilon << " * μ = " << kappa_epsilon * mu_
	<< " → μ = " << mu_ << std::endl;
	}

Fix in Cursor • Fix in Web

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