PagmoMultiObjectiveSolver.hpp

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#ifndef DART_OPTIMIZER_PAGMO_PAGMOMULTIOBJECTIVESOLVER_HPP_
#define DART_OPTIMIZER_PAGMO_PAGMOMULTIOBJECTIVESOLVER_HPP_
 
#include <random>
#include <pagmo/pagmo.hpp>
#include "dart/optimizer/MultiObjectiveSolver.hpp"
 
#define DART_PAGMO_DEFAULT_SOLVER Algorithm::Global_MOEAD
 
namespace dart {
namespace optimizer {
 
class MultiObjectiveProblem;
 
class PagmoMultiObjectiveSolver : public MultiObjectiveSolver
{
public:
  enum class Algorithm
  {
    Local_nlopt_COBYLA,
    Global_MOEAD,
    Global_NSGA2,
  };
 
  struct UniqueProperties
  {
    Algorithm mAlgorithm;
 
    explicit UniqueProperties(Algorithm algorithm = Algorithm::Global_NSGA2);
  };
 
  struct Properties : MultiObjectiveSolver::Properties, UniqueProperties
  {
    Properties(
        const MultiObjectiveSolver::Properties& solverProperties
        = MultiObjectiveSolver::Properties(),
        const UniqueProperties& descentProperties = UniqueProperties());
  };
 
  explicit PagmoMultiObjectiveSolver(
      const Properties& properties = Properties());
 
  explicit PagmoMultiObjectiveSolver(
      std::shared_ptr<MultiObjectiveProblem> problem);
 
  ~PagmoMultiObjectiveSolver() override;
 
  // Documentation inherited
  bool solve(std::size_t numEvolutions = 1u) override;
 
  // Documentation inherited
  std::string getType() const override;
 
  // Documentation inherited
  std::shared_ptr<MultiObjectiveSolver> clone() const override;
 
  void setProperties(const Properties& properties);
 
  void setProperties(const UniqueProperties& properties);
 
  Properties getGradientDescentProperties() const;
 
  void copy(const PagmoMultiObjectiveSolver& other);
 
  PagmoMultiObjectiveSolver& operator=(const PagmoMultiObjectiveSolver& other);
 
  void setAlgorithm(Algorithm alg);
 
  Algorithm getAlgorithm() const;
 
protected:
  UniqueProperties mPagmoMultiObjectiveSolverP;
 
  std::uniform_real_distribution<double> mDistribution;
};
 
} // namespace optimizer
} // namespace dart
 
#endif // DART_OPTIMIZER_PAGMO_PAGMOMULTIOBJECTIVESOLVER_HPP_