Problem.hpp

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#ifndef DART_OPTIMIZER_PROBLEM_HPP_
#define DART_OPTIMIZER_PROBLEM_HPP_
 
#include <cstddef>
#include <vector>
 
#include <Eigen/Dense>
 
#include "dart/optimizer/Function.hpp"
 
namespace dart {
namespace optimizer {
 
class Problem
{
public:
 
  explicit Problem(std::size_t _dim = 0);
 
  virtual ~Problem() = default;
 
  //--------------------------- Problem Setting --------------------------------
  void setDimension(std::size_t _dim);
 
  std::size_t getDimension() const;
 
  void setInitialGuess(const Eigen::VectorXd& _initGuess);
 
  const Eigen::VectorXd& getInitialGuess() const;
 
  void addSeed(const Eigen::VectorXd& _seed);
 
  Eigen::VectorXd& getSeed(std::size_t _index);
 
  const Eigen::VectorXd& getSeed(std::size_t _index) const;
 
  std::vector<Eigen::VectorXd>& getSeeds();
 
  const std::vector<Eigen::VectorXd>& getSeeds() const;
 
  void clearAllSeeds();
 
  void setLowerBounds(const Eigen::VectorXd& _lb);
 
  const Eigen::VectorXd& getLowerBounds() const;
 
  void setUpperBounds(const Eigen::VectorXd& _ub);
 
  const Eigen::VectorXd& getUpperBounds() const;
 
  void setObjective(FunctionPtr _obj);
 
  FunctionPtr getObjective() const;
 
  void addEqConstraint(FunctionPtr _eqConst);
 
  void addIneqConstraint(FunctionPtr _ineqConst);
 
  std::size_t getNumEqConstraints() const;
 
  std::size_t getNumIneqConstraints() const;
 
  FunctionPtr getEqConstraint(std::size_t _idx) const;
 
  FunctionPtr getIneqConstraint(std::size_t _idx) const;
 
  void removeEqConstraint(FunctionPtr _eqConst);
 
  void removeIneqConstraint(FunctionPtr _ineqConst);
 
  void removeAllEqConstraints();
 
  void removeAllIneqConstraints();
 
  //------------------------------ Result --------------------------------------
  void setOptimumValue(double _val);
 
  double getOptimumValue() const;
 
  void setOptimalSolution(const Eigen::VectorXd& _optParam);
 
  const Eigen::VectorXd& getOptimalSolution();
 
protected:
  std::size_t mDimension;
 
  Eigen::VectorXd mInitialGuess;
 
  std::vector<Eigen::VectorXd> mSeeds;
 
  Eigen::VectorXd mLowerBounds;
 
  Eigen::VectorXd mUpperBounds;
 
  FunctionPtr mObjective;
 
  std::vector<FunctionPtr> mEqConstraints;
 
  std::vector<FunctionPtr> mIneqConstraints;
 
  double mOptimumValue;
 
  Eigen::VectorXd mOptimalSolution;
};
 
} // namespace optimizer
} // namespace dart
 
#endif // #ifndef DART_OPTIMIZER_PROBLEM_HPP_