Solver.hpp

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#ifndef DART_OPTIMIZER_SOLVER_HPP_
#define DART_OPTIMIZER_SOLVER_HPP_
 
#include <iostream>
#include <memory>
 
#include <Eigen/Dense>
 
namespace dart {
namespace optimizer {
 
class Problem;
 
class Solver
{
public:
 
  struct Properties
  {
    std::shared_ptr<Problem> mProblem;
 
    double mTolerance;
 
    std::size_t mNumMaxIterations;
 
    std::size_t mIterationsPerPrint;
 
    std::ostream* mOutStream;
 
    bool mPrintFinalResult;
 
    std::string mResultFile;
 
    Properties(std::shared_ptr<Problem> _problem = nullptr,
               double _tolerance = 1e-9,
               std::size_t _numMaxIterations = 500,
               std::size_t _iterationsPerPrint = 0,
               std::ostream* _ostream = &std::cout,
               bool _printFinalResult = false,
               const std::string& _resultFile = "");
  };
 
  explicit Solver(const Properties& _properties = Properties());
 
  explicit Solver(std::shared_ptr<Problem> _problem);
 
  virtual ~Solver() = default;
 
  virtual bool solve() = 0;
 
  virtual std::string getType() const = 0;
 
  virtual std::shared_ptr<Solver> clone() const = 0;
 
  void setProperties(const Properties& _properties);
 
  const Properties& getSolverProperties() const;
 
  void copy(const Solver& _otherSolver);
 
  Solver& operator=(const Solver& _otherSolver);
 
  virtual void setProblem(std::shared_ptr<Problem> _newProblem);
 
  std::shared_ptr<Problem> getProblem() const;
 
  virtual void setTolerance(double _newTolerance);
 
  double getTolerance() const;
 
  virtual void setNumMaxIterations(std::size_t _newMax);
 
  std::size_t getNumMaxIterations() const;
 
  virtual void setIterationsPerPrint(std::size_t _newRatio);
 
  std::size_t getIterationsPerPrint() const;
 
  virtual void setOutStream(std::ostream* _os);
 
  std::ostream* getOutStream() const;
 
  virtual void setPrintFinalResult(bool _print);
 
  bool getPrintFinalResult() const;
 
  virtual void setResultFileName(const std::string& _resultFile);
 
  const std::string& getResultFileName() const;
 
protected:
 
  Properties mProperties;
 
};
 
}  // namespace optimizer
}  // namespace dart
 
#endif  // DART_OPTIMIZER_SOLVER_HPP_