dart::optimizer::snopt::SnoptInterface Class Reference

#include <SnoptInterface.hpp>

Classes
struct	Slack

Public Types
enum	Return {   Solution , UserStop , Error , Stop ,   Infeasible }
enum	UpdateType { Obj = 1 , Constr = 2 }
enum	SlackType { NoSlack = 0 , Vslack = 1 , Wslack = 2 }
enum	AbnormalType { NONE = 0 , INFEASIBLE = 1 , HESSIAN_UPDATE = 2 , HESSIAN_RESET = 3 }
typedef int(*	updateFunc) (long mask, int compute_gradients, double *coef_values, void *update_data)

Public Member Functions
	SnoptInterface (int constr_total, int coef_total, int nonlin_constr_total, int nonlin_obj_coef, int nonlin_jac_coef, int *constr_eqns, int has_objective, VVD J, VVB JMap, std::vector< double > *constraints, double *objective, std::vector< double > *gradient, updateFunc update_f, void *update_d)
	SnoptInterface (int has_objective, VVD J, VVB JMap, std::vector< double > *constraints, double *objective, std::vector< double > *gradient, updateFunc update_f, void *update_d)
	~SnoptInterface ()
Return	solve (double *x, double *lo_bounds, double *hi_bounds, int unit=4)
void	clear (long mask, int compute_derivs)
void	resizeJacobian (int coef_total, int nonlin_coef_total, int constr_total, int nonlin_constr_total)
void	resizeCoef ()
void	updateSolverX ()
void	update (long mask, int compute_derivs, double *x)

Static Public Member Functions
static void	checkTermination (int *iAbort, double *xs)

Public Attributes
int	mNumConstr
int	mNumCoef
int	mNumNonlinConstr
int	mNumNonlinObjCoef
int	mNumNonlinJacCoef
double *	mSolverX
double *	mProblemX
double *	mBoundsLo
double *	mBoundsHi
int *	mConstrEqns
int	mHasObjective
double *	mObj
std::vector< double > *	mdObjdCoef
std::vector< double > *	mConstr
VVD	mdConstrdCoef
Eigen::VectorXd	mConstrScale
Eigen::VectorXd	mCoefScale
VVB	mCoefMap
double	mReturnedObj
int	mOutput
int	mSum
bool	mCheckTerm
bool	mTermination
AbnormalType	mAbnormal
int	mBreak

Static Public Attributes
static SnoptInterface *	mRef = NULL

Protected Member Functions
void	scaleValues (long update_type, int compute_derivs)

Protected Attributes
SnoptInterface::updateFunc	mUpdateFunc
void *	mUpdateData

Private Member Functions
void	fillUpSnoptFormat (VVD jacobian, double **a, int **ha, int **ka)
int	sparseCount (int col)

Static Private Member Functions
static void	snoptObj (int *mode, int *nn_obj, double *x, double *f_obj, double *g_obj, int *nstate, char *cu, int *lencu, int *iu, int *leniu, double *ru, int *lenru)
static void	snoptJac (int *mode, int *nn_con, int *nn_jac, int *ne_jac, double *x, double *f_con, double *g_con, int *nstate, char *cu, int *lencu, int *iu, int *leniu, double *ru, int *lenru)

Member Typedef Documentation

updateFunc

typedef int(* dart::optimizer::snopt::SnoptInterface::updateFunc) (long mask, int compute_gradients, double *coef_values, void *update_data)

Member Enumeration Documentation

AbnormalType

enum dart::optimizer::snopt::SnoptInterface::AbnormalType

Enumerator
NONE
INFEASIBLE
HESSIAN_UPDATE
HESSIAN_RESET

Return

enum dart::optimizer::snopt::SnoptInterface::Return

Enumerator
Solution
UserStop
Error
Stop
Infeasible

SlackType

enum dart::optimizer::snopt::SnoptInterface::SlackType

Enumerator
NoSlack
Vslack
Wslack

UpdateType

enum dart::optimizer::snopt::SnoptInterface::UpdateType

Enumerator
Obj
Constr

Constructor & Destructor Documentation

SnoptInterface() [1/2]

dart::optimizer::snopt::SnoptInterface::SnoptInterface	(	int	constr_total,
		int	coef_total,
		int	nonlin_constr_total,
		int	nonlin_obj_coef,
		int	nonlin_jac_coef,
		int *	constr_eqns,
		int	has_objective,
		VVD	J,
		VVB	JMap,
		std::vector< double > *	constraints,
		double *	objective,
		std::vector< double > *	gradient,
		SnoptInterface::updateFunc	update_f,
		void *	update_d
	)

SnoptInterface() [2/2]

dart::optimizer::snopt::SnoptInterface::SnoptInterface	(	int	has_objective,
		VVD	J,
		VVB	JMap,
		std::vector< double > *	constraints,
		double *	objective,
		std::vector< double > *	gradient,
		SnoptInterface::updateFunc	update_f,
		void *	update_d
	)

~SnoptInterface()

dart::optimizer::snopt::SnoptInterface::~SnoptInterface

(

)

Member Function Documentation

checkTermination()

void dart::optimizer::snopt::SnoptInterface::checkTermination ( int *  iAbort, double *  xs  )

static

clear()

void dart::optimizer::snopt::SnoptInterface::clear	(	long	mask,
		int	compute_derivs
	)

fillUpSnoptFormat()

void dart::optimizer::snopt::SnoptInterface::fillUpSnoptFormat ( VVD  jacobian, double **  a, int **  ha, int **  ka  )

private

resizeCoef()

void dart::optimizer::snopt::SnoptInterface::resizeCoef

(

)

resizeJacobian()

void dart::optimizer::snopt::SnoptInterface::resizeJacobian	(	int	coef_total,
		int	nonlin_coef_total,
		int	constr_total,
		int	nonlin_constr_total
	)

scaleValues()

void dart::optimizer::snopt::SnoptInterface::scaleValues ( long  update_type, int  compute_derivs  )

protected

snoptJac()

void dart::optimizer::snopt::SnoptInterface::snoptJac ( int *  mode, int *  nn_con, int *  nn_jac, int *  ne_jac, double *  x, double *  f_con, double *  g_con, int *  nstate, char *  cu, int *  lencu, int *  iu, int *  leniu, double *  ru, int *  lenru  )

staticprivate

snoptObj()

void dart::optimizer::snopt::SnoptInterface::snoptObj ( int *  mode, int *  nn_obj, double *  x, double *  f_obj, double *  g_obj, int *  nstate, char *  cu, int *  lencu, int *  iu, int *  leniu, double *  ru, int *  lenru  )

staticprivate

solve()

SnoptInterface::Return dart::optimizer::snopt::SnoptInterface::solve	(	double *	x,
		double *	lo_bounds,
		double *	hi_bounds,
		int	unit = 4
	)

sparseCount()

int dart::optimizer::snopt::SnoptInterface::sparseCount ( int  col )

private

update()

void dart::optimizer::snopt::SnoptInterface::update	(	long	mask,
		int	compute_derivs,
		double *	x
	)

updateSolverX()

void dart::optimizer::snopt::SnoptInterface::updateSolverX

(

)

Member Data Documentation

mAbnormal

AbnormalType dart::optimizer::snopt::SnoptInterface::mAbnormal

mBoundsHi

double* dart::optimizer::snopt::SnoptInterface::mBoundsHi

mBoundsLo

double* dart::optimizer::snopt::SnoptInterface::mBoundsLo

mBreak

int dart::optimizer::snopt::SnoptInterface::mBreak

mCheckTerm

bool dart::optimizer::snopt::SnoptInterface::mCheckTerm

mCoefMap

VVB dart::optimizer::snopt::SnoptInterface::mCoefMap

mCoefScale

Eigen::VectorXd dart::optimizer::snopt::SnoptInterface::mCoefScale

mConstr

std::vector<double>* dart::optimizer::snopt::SnoptInterface::mConstr

mConstrEqns

int* dart::optimizer::snopt::SnoptInterface::mConstrEqns

mConstrScale

Eigen::VectorXd dart::optimizer::snopt::SnoptInterface::mConstrScale

mdConstrdCoef

VVD dart::optimizer::snopt::SnoptInterface::mdConstrdCoef

mdObjdCoef

std::vector<double>* dart::optimizer::snopt::SnoptInterface::mdObjdCoef

mHasObjective

int dart::optimizer::snopt::SnoptInterface::mHasObjective

mNumCoef

int dart::optimizer::snopt::SnoptInterface::mNumCoef

mNumConstr

int dart::optimizer::snopt::SnoptInterface::mNumConstr

mNumNonlinConstr

int dart::optimizer::snopt::SnoptInterface::mNumNonlinConstr

mNumNonlinJacCoef

int dart::optimizer::snopt::SnoptInterface::mNumNonlinJacCoef

mNumNonlinObjCoef

int dart::optimizer::snopt::SnoptInterface::mNumNonlinObjCoef

mObj

double* dart::optimizer::snopt::SnoptInterface::mObj

mOutput

int dart::optimizer::snopt::SnoptInterface::mOutput

mProblemX

double* dart::optimizer::snopt::SnoptInterface::mProblemX

mRef

SnoptInterface * dart::optimizer::snopt::SnoptInterface::mRef = NULL

static

mReturnedObj

double dart::optimizer::snopt::SnoptInterface::mReturnedObj

mSolverX

double* dart::optimizer::snopt::SnoptInterface::mSolverX

mSum

int dart::optimizer::snopt::SnoptInterface::mSum

mTermination

bool dart::optimizer::snopt::SnoptInterface::mTermination

mUpdateData

void* dart::optimizer::snopt::SnoptInterface::mUpdateData

protected

mUpdateFunc

SnoptInterface::updateFunc dart::optimizer::snopt::SnoptInterface::mUpdateFunc

protected