dart::optimizer::DartTNLP Class Reference

class DartTNLP More...

#include <IpoptSolver.hpp>

Inheritance diagram for dart::optimizer::DartTNLP:

Public Member Functions
virtual	~DartTNLP ()
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
	Method to return some info about the nlp. More...
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
	Method to return the bounds for my problem. More...
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
	Method to return the starting point for the algorithm. More...
bool	eval_f (Ipopt::Index _n, const Ipopt::Number *_x, bool _new_x, Ipopt::Number &_obj_value) override
	Method to return the objective value. More...
bool	eval_grad_f (Ipopt::Index _n, const Ipopt::Number *_x, bool _new_x, Ipopt::Number *_grad_f) override
	Method to return the gradient of the objective. More...
bool	eval_g (Ipopt::Index _n, const Ipopt::Number *_x, bool _new_x, Ipopt::Index _m, Ipopt::Number *_g) override
	Method to return the constraint residuals. More...
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
	Method to return: 1) The structure of the jacobian (if "values" is nullptr) 2) The values of the jacobian (if "values" is not nullptr) More...
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
	Method to return: 1) The structure of the hessian of the lagrangian (if "values" is nullptr) 2) The values of the hessian of the lagrangian (if "values" is not nullptr) More...
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
	This method is called when the algorithm is complete so the TNLP can store/write the solution. More...

Private Member Functions
	DartTNLP (IpoptSolver *_solver)

Private Attributes
IpoptSolver *	mSolver
	DART optimization problem. More...
Ipopt::Number	mObjValue
	Objective value. More...
Eigen::VectorXd	mObjGradient
	Objective gradient. More...
Eigen::MatrixXd	mObjHessian
	Objective Hessian. More...

Friends
class	IpoptSolver

Detailed Description

class DartTNLP

Constructor & Destructor Documentation

~DartTNLP()

dart::optimizer::DartTNLP::~DartTNLP ( )

virtual

DartTNLP()

dart::optimizer::DartTNLP::DartTNLP ( IpoptSolver *  _solver )

explicitprivate

Member Function Documentation

eval_f()

bool dart::optimizer::DartTNLP::eval_f ( Ipopt::Index  _n, const Ipopt::Number *  _x, bool  _new_x, Ipopt::Number &  _obj_value  )

override

Method to return the objective value.

eval_g()

bool dart::optimizer::DartTNLP::eval_g ( Ipopt::Index  _n, const Ipopt::Number *  _x, bool  _new_x, Ipopt::Index  _m, Ipopt::Number *  _g  )

override

Method to return the constraint residuals.

eval_grad_f()

bool dart::optimizer::DartTNLP::eval_grad_f ( Ipopt::Index  _n, const Ipopt::Number *  _x, bool  _new_x, Ipopt::Number *  _grad_f  )

override

Method to return the gradient of the objective.

eval_h()

bool dart::optimizer::DartTNLP::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

Method to return: 1) The structure of the hessian of the lagrangian (if "values" is nullptr) 2) The values of the hessian of the lagrangian (if "values" is not nullptr)

eval_jac_g()

bool dart::optimizer::DartTNLP::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

Method to return: 1) The structure of the jacobian (if "values" is nullptr) 2) The values of the jacobian (if "values" is not nullptr)

finalize_solution()

void dart::optimizer::DartTNLP::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

This method is called when the algorithm is complete so the TNLP can store/write the solution.

get_bounds_info()

bool dart::optimizer::DartTNLP::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

Method to return the bounds for my problem.

get_nlp_info()

bool dart::optimizer::DartTNLP::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

Method to return some info about the nlp.

get_starting_point()

bool dart::optimizer::DartTNLP::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

Method to return the starting point for the algorithm.

Friends And Related Function Documentation

IpoptSolver

friend class IpoptSolver

friend

Member Data Documentation

mObjGradient

Eigen::VectorXd dart::optimizer::DartTNLP::mObjGradient

private

Objective gradient.

mObjHessian

Eigen::MatrixXd dart::optimizer::DartTNLP::mObjHessian

private

Objective Hessian.

mObjValue

Ipopt::Number dart::optimizer::DartTNLP::mObjValue

private

Objective value.

mSolver

IpoptSolver* dart::optimizer::DartTNLP::mSolver

private

DART optimization problem.