#include <IpoptSolver.hpp>

Inheritance diagram for dart::optimizer::IpoptSolver:

Public Member Functions
	IpoptSolver (const Solver::Properties &_properties=Solver::Properties())
	Default constructor.

	IpoptSolver (std::shared_ptr< Problem > _problem)
	Alternative Constructor.

virtual	~IpoptSolver ()
	Destructor.

bool	solve () override
	Solve optimization problem.

std::string	getType () const override
	Get the type (implementation) of this Solver.

std::shared_ptr< Solver >	clone () const override
	Create an identical clone of this Solver.

const Ipopt::SmartPtr< Ipopt::IpoptApplication > &	getApplication ()
	Get the application interface for this IpoptSolver.

Ipopt::SmartPtr< const Ipopt::IpoptApplication >	getApplication () const
	Get a const application interface for this IpoptSolver.

void	setProperties (const Properties &_properties)
	Set the generic Properties of this Solver.

const Properties &	getSolverProperties () const
	Get the generic Properties of this Solver.

void	copy (const Solver &_otherSolver)
	Copy the generic Properties of another Solver.

virtual void	setProblem (std::shared_ptr< Problem > _newProblem)
	Set the nonlinear optimization problem.

std::shared_ptr< Problem >	getProblem () const
	Get nonlinear optimization problem.

virtual void	setTolerance (double _newTolerance)
	Set the maximum step size allowed for the Problem to be considered converged.

double	getTolerance () const
	Get the maximum step size allowed for the Problem to be considered converged.

virtual void	setNumMaxIterations (std::size_t _newMax)
	Set the maximum number of iterations that the Solver should use.

std::size_t	getNumMaxIterations () const
	Get the maximum number of iterations that the Solver should use.

virtual void	setIterationsPerPrint (std::size_t _newRatio)
	Set the number of iterations that should pass between printing progress to the terminal.

std::size_t	getIterationsPerPrint () const
	Get the number of iterations that should pass between printing progress to the terminal.

virtual void	setOutStream (std::ostream *_os)
	Set the output stream that prints the Solver's progress.

std::ostream *	getOutStream () const
	Get the output stream that prints the Solver's progress.

virtual void	setPrintFinalResult (bool _print)
	Set to true if the final result should be printed to the terminal.

bool	getPrintFinalResult () const
	Returns true if the final result should be printed to the terminal.

virtual void	setResultFileName (const std::string &_resultFile)
	Set the name of the file that results should be printed to.

const std::string &	getResultFileName () const
	Get the name of the file that results should be printed to.

Protected Attributes
Properties	mProperties

Private Member Functions
	IpoptSolver (const Properties &_properties, const Ipopt::SmartPtr< Ipopt::IpoptApplication > &_app)
	Constructor used during cloning.

Private Attributes
Ipopt::SmartPtr< Ipopt::TNLP >	mNlp
	IPOPT nonlinear programming problem.

Ipopt::SmartPtr< Ipopt::IpoptApplication >	mIpoptApp
	Main application class for making calls to Ipopt.

Detailed Description

class IpoptSolver

Constructor & Destructor Documentation

◆ IpoptSolver() [1/3]

dart::optimizer::IpoptSolver::IpoptSolver ( const Solver::Properties & _properties = Solver::Properties() )

Default constructor.

◆ IpoptSolver() [2/3]

dart::optimizer::IpoptSolver::IpoptSolver ( std::shared_ptr< Problem > _problem )

explicit

Alternative Constructor.

◆ ~IpoptSolver()

dart::optimizer::IpoptSolver::~IpoptSolver ( )

virtual

Destructor.

◆ IpoptSolver() [3/3]

dart::optimizer::IpoptSolver::IpoptSolver	(	const Properties &	_properties,
		const Ipopt::SmartPtr< Ipopt::IpoptApplication > &	_app
	)

private

Constructor used during cloning.

Member Function Documentation

◆ clone()

std::shared_ptr< Solver > dart::optimizer::IpoptSolver::clone ( ) const

overridevirtual

Create an identical clone of this Solver.

Implements dart::optimizer::Solver.

◆ copy()

void dart::optimizer::Solver::copy ( const Solver & _otherSolver )

inherited

Copy the generic Properties of another Solver.

◆ getApplication() [1/2]

const Ipopt::SmartPtr< Ipopt::IpoptApplication > & dart::optimizer::IpoptSolver::getApplication ( )

Get the application interface for this IpoptSolver.

◆ getApplication() [2/2]

Ipopt::SmartPtr< const Ipopt::IpoptApplication > dart::optimizer::IpoptSolver::getApplication ( ) const

Get a const application interface for this IpoptSolver.

◆ getIterationsPerPrint()

std::size_t dart::optimizer::Solver::getIterationsPerPrint ( ) const

inherited

Get the number of iterations that should pass between printing progress to the terminal.

A value of 0 means there will be no printing.

◆ getNumMaxIterations()

std::size_t dart::optimizer::Solver::getNumMaxIterations ( ) const

inherited

Get the maximum number of iterations that the Solver should use.

◆ getOutStream()

std::ostream * dart::optimizer::Solver::getOutStream ( ) const

inherited

Get the output stream that prints the Solver's progress.

◆ getPrintFinalResult()

bool dart::optimizer::Solver::getPrintFinalResult ( ) const

inherited

Returns true if the final result should be printed to the terminal.

◆ getProblem()

std::shared_ptr< Problem > dart::optimizer::Solver::getProblem ( ) const

inherited

Get nonlinear optimization problem.

◆ getResultFileName()

const std::string & dart::optimizer::Solver::getResultFileName ( ) const

inherited

Get the name of the file that results should be printed to.

An empty string indicates that results should not be printed to a file.

◆ getSolverProperties()

const Solver::Properties & dart::optimizer::Solver::getSolverProperties ( ) const

inherited

Get the generic Properties of this Solver.

◆ getTolerance()

double dart::optimizer::Solver::getTolerance ( ) const

inherited

Get the maximum step size allowed for the Problem to be considered converged.

◆ getType()

std::string dart::optimizer::IpoptSolver::getType ( ) const

overridevirtual

Get the type (implementation) of this Solver.

Implements dart::optimizer::Solver.

◆ setIterationsPerPrint()

void dart::optimizer::Solver::setIterationsPerPrint ( std::size_t _newRatio )

virtualinherited

Set the number of iterations that should pass between printing progress to the terminal.

Use 0 for no printing.

◆ setNumMaxIterations()

void dart::optimizer::Solver::setNumMaxIterations ( std::size_t _newMax )

virtualinherited

Set the maximum number of iterations that the Solver should use.

◆ setOutStream()

void dart::optimizer::Solver::setOutStream ( std::ostream * _os )

virtualinherited

Set the output stream that prints the Solver's progress.

◆ setPrintFinalResult()

void dart::optimizer::Solver::setPrintFinalResult ( bool _print )

virtualinherited

Set to true if the final result should be printed to the terminal.

◆ setProblem()

void dart::optimizer::Solver::setProblem ( std::shared_ptr< Problem > _newProblem )

virtualinherited

Set the nonlinear optimization problem.

◆ setProperties()

void dart::optimizer::Solver::setProperties ( const Properties & _properties )

inherited

Set the generic Properties of this Solver.

◆ setResultFileName()

void dart::optimizer::Solver::setResultFileName ( const std::string & _resultFile )

virtualinherited

Set the name of the file that results should be printed to.

Use an empty string to indicate that results should not be printed to a file.

◆ setTolerance()

void dart::optimizer::Solver::setTolerance ( double _newTolerance )

virtualinherited

Set the maximum step size allowed for the Problem to be considered converged.

◆ solve()

bool dart::optimizer::IpoptSolver::solve ( )

overridevirtual

Solve optimization problem.

Implements dart::optimizer::Solver.

Member Data Documentation

◆ mIpoptApp

Ipopt::SmartPtr<Ipopt::IpoptApplication> dart::optimizer::IpoptSolver::mIpoptApp

private

Main application class for making calls to Ipopt.

◆ mNlp

Ipopt::SmartPtr<Ipopt::TNLP> dart::optimizer::IpoptSolver::mNlp

private

IPOPT nonlinear programming problem.

◆ mProperties

Properties dart::optimizer::Solver::mProperties

protectedinherited

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ IpoptSolver() [1/3]

◆ IpoptSolver() [2/3]

◆ ~IpoptSolver()

◆ IpoptSolver() [3/3]

Member Function Documentation

◆ clone()

◆ copy()

◆ getApplication() [1/2]

◆ getApplication() [2/2]

◆ getIterationsPerPrint()

◆ getNumMaxIterations()

◆ getOutStream()

◆ getPrintFinalResult()

◆ getProblem()

◆ getResultFileName()

◆ getSolverProperties()

◆ getTolerance()

◆ getType()

◆ setIterationsPerPrint()

◆ setNumMaxIterations()

◆ setOutStream()

◆ setPrintFinalResult()

◆ setProblem()

◆ setProperties()

◆ setResultFileName()

◆ setTolerance()

◆ solve()

Member Data Documentation

◆ mIpoptApp

◆ mNlp

◆ mProperties