IpoptSolver.hpp

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#ifndef DART_OPTIMIZER_IPOPT_IPOPTSOLVER_HPP_
#define DART_OPTIMIZER_IPOPT_IPOPTSOLVER_HPP_
 
#include <memory>
 
#include "dart/optimizer/ipopt/BackwardCompatibility.hpp"
#if IPOPT_VERSION_GE(3, 13, 0)
#  include <IpIpoptApplication.hpp>
#  include <IpTNLP.hpp>
#else
#  include <coin/IpIpoptApplication.hpp>
#  include <coin/IpTNLP.hpp>
#endif
 
#include "dart/optimizer/Solver.hpp"
 
namespace dart {
namespace optimizer {
 
class Problem;
class DartTNLP;
 
class IpoptSolver : public Solver
{
public:
  IpoptSolver(const Solver::Properties& _properties = Solver::Properties());
 
  explicit IpoptSolver(std::shared_ptr<Problem> _problem);
 
  virtual ~IpoptSolver();
 
  // Documentation inherited
  bool solve() override;
 
  // Documentation inherited
  std::string getType() const override;
 
  // Documentation inherited
  std::shared_ptr<Solver> clone() const override;
 
  const Ipopt::SmartPtr<Ipopt::IpoptApplication>& getApplication();
 
  Ipopt::SmartPtr<const Ipopt::IpoptApplication> getApplication() const;
 
private:
  IpoptSolver(
      const Properties& _properties,
      const Ipopt::SmartPtr<Ipopt::IpoptApplication>& _app);
 
  Ipopt::SmartPtr<Ipopt::TNLP> mNlp;
 
  Ipopt::SmartPtr<Ipopt::IpoptApplication> mIpoptApp;
};
 
class DartTNLP : public Ipopt::TNLP
{
public:
  friend class IpoptSolver;
 
  virtual ~DartTNLP();
 
  //------------------------- Ipopt::TNLP --------------------------------------
  bool get_nlp_info(
      Ipopt::Index& n,
      Ipopt::Index& m,
      Ipopt::Index& nnz_jac_g,
      Ipopt::Index& nnz_h_lag,
      Ipopt::TNLP::IndexStyleEnum& index_style) override;
 
  bool get_bounds_info(
      Ipopt::Index n,
      Ipopt::Number* x_l,
      Ipopt::Number* x_u,
      Ipopt::Index m,
      Ipopt::Number* g_l,
      Ipopt::Number* g_u) override;
 
  bool get_starting_point(
      Ipopt::Index n,
      bool init_x,
      Ipopt::Number* x,
      bool init_z,
      Ipopt::Number* z_L,
      Ipopt::Number* z_U,
      Ipopt::Index m,
      bool init_lambda,
      Ipopt::Number* lambda) override;
 
  bool eval_f(
      Ipopt::Index _n,
      const Ipopt::Number* _x,
      bool _new_x,
      Ipopt::Number& _obj_value) override;
 
  bool eval_grad_f(
      Ipopt::Index _n,
      const Ipopt::Number* _x,
      bool _new_x,
      Ipopt::Number* _grad_f) override;
 
  bool eval_g(
      Ipopt::Index _n,
      const Ipopt::Number* _x,
      bool _new_x,
      Ipopt::Index _m,
      Ipopt::Number* _g) override;
 
  bool eval_jac_g(
      Ipopt::Index _n,
      const Ipopt::Number* _x,
      bool _new_x,
      Ipopt::Index _m,
      Ipopt::Index _nele_jac,
      Ipopt::Index* _iRow,
      Ipopt::Index* _jCol,
      Ipopt::Number* _values) override;
 
  bool eval_h(
      Ipopt::Index _n,
      const Ipopt::Number* _x,
      bool _new_x,
      Ipopt::Number _obj_factor,
      Ipopt::Index _m,
      const Ipopt::Number* _lambda,
      bool _new_lambda,
      Ipopt::Index _nele_hess,
      Ipopt::Index* _iRow,
      Ipopt::Index* _jCol,
      Ipopt::Number* _values) override;
 
  void finalize_solution(
      Ipopt::SolverReturn _status,
      Ipopt::Index _n,
      const Ipopt::Number* _x,
      const Ipopt::Number* _z_L,
      const Ipopt::Number* _z_U,
      Ipopt::Index _m,
      const Ipopt::Number* _g,
      const Ipopt::Number* _lambda,
      Ipopt::Number _obj_value,
      const Ipopt::IpoptData* _ip_data,
      Ipopt::IpoptCalculatedQuantities* _ip_cq) override;
 
private:
  explicit DartTNLP(IpoptSolver* _solver);
 
  IpoptSolver* mSolver;
 
  Ipopt::Number mObjValue;
 
  Eigen::VectorXd mObjGradient;
 
  Eigen::MatrixXd mObjHessian;
};
 
} // namespace optimizer
} // namespace dart
 
#endif // DART_OPTIMIZER_IPOPT_IPOPTSOLVER_HPP_