NloptSolver.hpp

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#ifndef DART_OPTIMIZER_NLOPT_NLOPTSOLVER_HPP_
#define DART_OPTIMIZER_NLOPT_NLOPTSOLVER_HPP_
 
#include <nlopt.hpp>
 
#include "dart/common/Deprecated.hpp"
#include "dart/optimizer/Solver.hpp"
 
namespace dart {
namespace optimizer {
 
class Problem;
 
class NloptSolver : public Solver
{
public:
  enum Algorithm
  {
    GN_DIRECT = 0,
    GN_DIRECT_L,
    GN_DIRECT_L_RAND,
    GN_DIRECT_NOSCAL,
    GN_DIRECT_L_NOSCAL,
    GN_DIRECT_L_RAND_NOSCAL,
    GN_ORIG_DIRECT,
    GN_ORIG_DIRECT_L,
    GD_STOGO,
    GD_STOGO_RAND,
    LD_LBFGS_NOCEDAL,
    LD_LBFGS,
    LN_PRAXIS,
    LD_VAR1,
    LD_VAR2,
    LD_TNEWTON,
    LD_TNEWTON_RESTART,
    LD_TNEWTON_PRECOND,
    LD_TNEWTON_PRECOND_RESTART,
    GN_CRS2_LM,
    GN_MLSL,
    GD_MLSL,
    GN_MLSL_LDS,
    GD_MLSL_LDS,
    LD_MMA,
    LN_COBYLA,
    LN_NEWUOA,
    LN_NEWUOA_BOUND,
    LN_NELDERMEAD,
    LN_SBPLX,
    LN_AUGLAG,
    LD_AUGLAG,
    LN_AUGLAG_EQ,
    LD_AUGLAG_EQ,
    LN_BOBYQA,
    GN_ISRES,
    AUGLAG,
    AUGLAG_EQ,
    G_MLSL,
    G_MLSL_LDS,
    LD_SLSQP,
    LD_CCSAQ,
    GN_ESCH,
    NUM_ALGORITHMS 
  };
 
  DART_DEPRECATED(6.9)
  NloptSolver(const Solver::Properties& properties, nlopt::algorithm alg);
 
  NloptSolver(
      const Solver::Properties& properties = Solver::Properties(),
      Algorithm alg = LN_COBYLA);
 
  DART_DEPRECATED(6.9)
  NloptSolver(std::shared_ptr<Problem> problem, nlopt::algorithm alg);
 
  NloptSolver(std::shared_ptr<Problem> problem, Algorithm alg = LN_COBYLA);
 
  ~NloptSolver() override;
 
  // Documentation inherited
  bool solve() override;
 
  // Documentation inherited
  Eigen::VectorXd getLastConfiguration() const;
 
  // Documentation inherited
  std::string getType() const override;
 
  // Documentation inherited
  std::shared_ptr<Solver> clone() const override;
 
  void copy(const NloptSolver& other);
 
  NloptSolver& operator=(const NloptSolver& other);
 
  DART_DEPRECATED(6.9)
  void setAlgorithm(nlopt::algorithm alg);
 
  void setAlgorithm(Algorithm alg);
 
  DART_DEPRECATED(6.9)
  nlopt::algorithm getAlgorithm() const;
 
  Algorithm getAlgorithm2() const;
  // TODO(JS): Rename to getAlgorithm2() once getAlgorithm() is removed in
  // DART 7
 
private:
  static nlopt::algorithm convertAlgorithm(Algorithm algorithm);
 
  static Algorithm convertAlgorithm(nlopt::algorithm algorithm);
 
  static double _nlopt_func(
      unsigned n,
      const double* x,
      double* gradient, // nullptr if not needed
      void* func_data);
 
  static void _nlopt_mfunc(
      unsigned m,
      double* result,
      unsigned n,
      const double* x,
      double* gradient, // nullptr if not needed
      void* func_data);
 
  std::unique_ptr<nlopt::opt> mOpt;
 
  nlopt::algorithm mAlg;
 
  std::vector<double> mX;
 
  double mMinF;
};
 
} // namespace optimizer
} // namespace dart
 
#endif // DART_OPTIMIZER_NLOPT_NLOPTSOLVER_HPP_