SnoptSolver.hpp

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/*
  RTQL8, Copyright (c) 2011 Georgia Tech Graphics Lab
  All rights reserved.
 
  Author    Sehoon Ha
  Date      06/19/2011
*/
 
#ifndef DART_OPTIMIZER_SNOPT_SNOPT_H
#define DART_OPTIMIZER_SNOPT_SNOPT_H
 
#include <vector>
#include <Eigen/Dense>
#include "dart/optimizer/snopt/SnoptInterface.h"
#include "dart/optimizer/Solver.h"
 
namespace dart {
namespace optimizer {
 
class Problem;
class ConstraintSet;
class ObjectiveSet;
class Variable;
 
namespace snopt {
 
class SnoptSolver : public Solver {
public:
    SnoptSolver(Problem *problem);
    virtual ~SnoptSolver();
 
    virtual bool solve();
 
    virtual void resetSolver();
    static int iterUpdate(long mask, int compute_gradients, double *coefs, void *update_data);
private:
    SnoptInterface *mSnopt;
    /* std::vector<Dofs> mVariables; */
    /* ConstrBox* mConstrBox; */
    /* ObjBox* mObjBox; */
 
    ConstraintSet* conBox();
    ObjectiveSet* objBox();
 
    bool mNoDisplay;
    int mSolverIter;
 
    int mTotalDofs;
    int mOptCount;
    bool mPrint;
    int mUnit;
 
 
};
 
} // namespace snopt
} // namespace optimizer
} // namespace dart
 
#endif // #ifndef DART_OPTIMIZER_SNOPT_SNOPT_H