Solver.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DART_OPTIMIZER_SOLVER_HPP_
#define DART_OPTIMIZER_SOLVER_HPP_
 
#include <iostream>
#include <memory>
 
#include <Eigen/Dense>
 
namespace dart {
namespace optimizer {
 
class Problem;
 
class Solver
{
public:
  struct Properties
  {
    std::shared_ptr<Problem> mProblem;
 
    double mTolerance;
 
    std::size_t mNumMaxIterations;
 
    std::size_t mIterationsPerPrint;
 
    std::ostream* mOutStream;
 
    bool mPrintFinalResult;
 
    std::string mResultFile;
 
    Properties(
        std::shared_ptr<Problem> _problem = nullptr,
        double _tolerance = 1e-9,
        std::size_t _numMaxIterations = 500,
        std::size_t _iterationsPerPrint = 0,
        std::ostream* _ostream = &std::cout,
        bool _printFinalResult = false,
        const std::string& _resultFile = "");
  };
 
  explicit Solver(const Properties& _properties = Properties());
 
  explicit Solver(std::shared_ptr<Problem> _problem);
 
  virtual ~Solver() = default;
 
  virtual bool solve() = 0;
 
  virtual std::string getType() const = 0;
 
  virtual std::shared_ptr<Solver> clone() const = 0;
 
  void setProperties(const Properties& _properties);
 
  const Properties& getSolverProperties() const;
 
  void copy(const Solver& _otherSolver);
 
  Solver& operator=(const Solver& _otherSolver);
 
  virtual void setProblem(std::shared_ptr<Problem> _newProblem);
 
  std::shared_ptr<Problem> getProblem() const;
 
  virtual void setTolerance(double _newTolerance);
 
  double getTolerance() const;
 
  virtual void setNumMaxIterations(std::size_t _newMax);
 
  std::size_t getNumMaxIterations() const;
 
  virtual void setIterationsPerPrint(std::size_t _newRatio);
 
  std::size_t getIterationsPerPrint() const;
 
  virtual void setOutStream(std::ostream* _os);
 
  std::ostream* getOutStream() const;
 
  virtual void setPrintFinalResult(bool _print);
 
  bool getPrintFinalResult() const;
 
  virtual void setResultFileName(const std::string& _resultFile);
 
  const std::string& getResultFileName() const;
 
protected:
  Properties mProperties;
};
 
} // namespace optimizer
} // namespace dart
 
#endif // DART_OPTIMIZER_SOLVER_HPP_