NloptSolver.hpp

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#ifndef DART_OPTIMIZER_NLOPT_NLOPTSOLVER_HPP_
#define DART_OPTIMIZER_NLOPT_NLOPTSOLVER_HPP_
 
#include <nlopt.hpp>
 
#include "dart/optimizer/Solver.hpp"
 
namespace dart {
namespace optimizer {
 
class Problem;
 
class NloptSolver : public Solver
{
public:
 
  NloptSolver(const Solver::Properties& _properties = Solver::Properties(),
              nlopt::algorithm _alg = nlopt::LN_COBYLA);
 
  NloptSolver(std::shared_ptr<Problem> _problem,
              nlopt::algorithm _alg = nlopt::LN_COBYLA);
 
  virtual ~NloptSolver();
 
  // Documentation inherited
  bool solve() override;
 
  // Documentation inherited
  Eigen::VectorXd getLastConfiguration() const;
 
  // Documentation inherited
  std::string getType() const override;
 
  // Documentation inherited
  std::shared_ptr<Solver> clone() const override;
 
  void copy(const NloptSolver& _other);
 
  NloptSolver& operator=(const NloptSolver& _other);
 
  void setAlgorithm(nlopt::algorithm _alg);
 
  nlopt::algorithm getAlgorithm() const;
 
private:
  static double _nlopt_func(unsigned _n,
                            const double* _x,
                            double* _gradient,  // nullptr if not needed
                            void* _func_data);
 
  static void _nlopt_mfunc(unsigned _m,
                           double* _result,
                           unsigned _n,
                           const double* _x,
                           double* _gradient,  // nullptr if not needed
                           void* _func_data);
 
  std::unique_ptr<nlopt::opt> mOpt;
 
  nlopt::algorithm mAlg;
 
  std::vector<double> mX;
 
  double mMinF;
};
 
}  // namespace optimizer
}  // namespace dart
 
#endif  // DART_OPTIMIZER_NLOPT_NLOPTSOLVER_HPP_