#include <NloptSolver.hpp>

Inheritance diagram for dart::optimizer::NloptSolver:

Public Member Functions
	NloptSolver (const Solver::Properties &_properties=Solver::Properties(), nlopt::algorithm _alg=nlopt::LN_COBYLA)
	Default Constructor. More...

	NloptSolver (std::shared_ptr< Problem > _problem, nlopt::algorithm _alg=nlopt::LN_COBYLA)
	Alternative Constructor. More...

virtual	~NloptSolver ()
	Destructor. More...

bool	solve () override
	Solve optimization problem. More...

Eigen::VectorXd	getLastConfiguration () const

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

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

void	copy (const NloptSolver &_other)
	Copy the Properties of another NloptSolver. More...

NloptSolver &	operator= (const NloptSolver &_other)
	Copy the Properties of another NloptSolver. More...

void	setAlgorithm (nlopt::algorithm _alg)
	Set the algorithm that is to be used by the nlopt solver. More...

nlopt::algorithm	getAlgorithm () const
	Get the algorithm that is to be used by the nlopt solver. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Protected Attributes
Properties	mProperties

Static Private Member Functions
static double	_nlopt_func (unsigned _n, const double _x, double _gradient, void *_func_data)
	Wrapping function for nlopt callback function, nlopt_func. More...

static void	_nlopt_mfunc (unsigned _m, double _result, unsigned _n, const double _x, double _gradient, void _func_data)
	Wrapping function for nlopt callback function, nlopt_mfunc. More...

Private Attributes
std::unique_ptr< nlopt::opt >	mOpt
	NLOPT data structure. More...

nlopt::algorithm	mAlg
	Algorithm to be used by the nlopt::opt. More...

std::vector< double >	mX
	Optimization parameters. More...

double	mMinF
	Optimum value of the objective function. More...

Detailed Description

class NloptSolver

Constructor & Destructor Documentation

◆ NloptSolver() [1/2]

dart::optimizer::NloptSolver::NloptSolver	(	const Solver::Properties &	_properties = `Solver::Properties()`,
		nlopt::algorithm	_alg = `nlopt::LN_COBYLA`
	)

Default Constructor.

◆ NloptSolver() [2/2]

dart::optimizer::NloptSolver::NloptSolver	(	std::shared_ptr< Problem >	_problem,
		nlopt::algorithm	_alg = `nlopt::LN_COBYLA`
	)

Alternative Constructor.

◆ ~NloptSolver()

dart::optimizer::NloptSolver::~NloptSolver ( )

virtual

Destructor.

Member Function Documentation

◆ _nlopt_func()

double dart::optimizer::NloptSolver::_nlopt_func	(	unsigned	_n,
		const double *	_x,
		double *	_gradient,
		void *	_func_data
	)

staticprivate

Wrapping function for nlopt callback function, nlopt_func.

◆ _nlopt_mfunc()

void dart::optimizer::NloptSolver::_nlopt_mfunc	(	unsigned	_m,
		double *	_result,
		unsigned	_n,
		const double *	_x,
		double *	_gradient,
		void *	_func_data
	)

staticprivate

Wrapping function for nlopt callback function, nlopt_mfunc.

◆ clone()

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

overridevirtual

Create an identical clone of this Solver.

Implements dart::optimizer::Solver.

◆ copy() [1/2]

void dart::optimizer::NloptSolver::copy ( const NloptSolver & _other )

Copy the Properties of another NloptSolver.

◆ copy() [2/2]

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

inherited

Copy the generic Properties of another Solver.

◆ getAlgorithm()

nlopt::algorithm dart::optimizer::NloptSolver::getAlgorithm ( ) const

Get the algorithm that is to be used by the nlopt solver.

◆ 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.

◆ getLastConfiguration()

Eigen::VectorXd dart::optimizer::NloptSolver::getLastConfiguration ( ) const

◆ 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::NloptSolver::getType ( ) const

overridevirtual

Get the type (implementation) of this Solver.

Implements dart::optimizer::Solver.

◆ operator=()

NloptSolver & dart::optimizer::NloptSolver::operator= ( const NloptSolver & _other )

Copy the Properties of another NloptSolver.

◆ setAlgorithm()

void dart::optimizer::NloptSolver::setAlgorithm ( nlopt::algorithm _alg )

Set the algorithm that is to be used by the nlopt 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::NloptSolver::solve ( )

overridevirtual

Solve optimization problem.

Implements dart::optimizer::Solver.

Member Data Documentation

◆ mAlg

nlopt::algorithm dart::optimizer::NloptSolver::mAlg

private

Algorithm to be used by the nlopt::opt.

◆ mMinF

double dart::optimizer::NloptSolver::mMinF

private

Optimum value of the objective function.

◆ mOpt

std::unique_ptr<nlopt::opt> dart::optimizer::NloptSolver::mOpt

private

NLOPT data structure.

◆ mProperties

Properties dart::optimizer::Solver::mProperties

protectedinherited

◆ mX

std::vector<double> dart::optimizer::NloptSolver::mX

private

Optimization parameters.

Public Member Functions

Protected Attributes

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ NloptSolver() [1/2]

◆ NloptSolver() [2/2]

◆ ~NloptSolver()

Member Function Documentation

◆ _nlopt_func()

◆ _nlopt_mfunc()

◆ clone()

◆ copy() [1/2]

◆ copy() [2/2]

◆ getAlgorithm()

◆ getIterationsPerPrint()

◆ getLastConfiguration()

◆ getNumMaxIterations()

◆ getOutStream()

◆ getPrintFinalResult()

◆ getProblem()

◆ getResultFileName()

◆ getSolverProperties()

◆ getTolerance()

◆ getType()

◆ operator=()

◆ setAlgorithm()

◆ setIterationsPerPrint()

◆ setNumMaxIterations()

◆ setOutStream()

◆ setPrintFinalResult()

◆ setProblem()

◆ setProperties()

◆ setResultFileName()

◆ setTolerance()

◆ solve()

Member Data Documentation

◆ mAlg

◆ mMinF

◆ mOpt

◆ mProperties

◆ mX