roboptim::IpoptSolverCommon< T > Class Template Reference

Ipopt common solver. More...

#include <roboptim/core/plugin/ipopt/ipopt-common.hh>

Inheritance diagram for roboptim::IpoptSolverCommon< T >:

Public Types
enum	ConstraintType {   LINEAR = 0,   NONLINEAR = 1 }
	Categorize constraints. More...
typedef T	parent_t
	Parent type. More...
typedef T::callback_t	callback_t
typedef T::problem_t	problem_t
typedef problem_t::function_t	function_t
typedef problem_t::argument_t	argument_t

Public Member Functions
	IpoptSolverCommon (const problem_t &pb, Ipopt::SmartPtr< Ipopt::TNLP > tnlp)
	Instantiate the solver from a problem. More...
virtual	~IpoptSolverCommon ()
void	solve ()
	Solve the problem. More...
virtual Ipopt::SmartPtr < Ipopt::IpoptApplication >	getIpoptApplication ()
	Get Ipopt Application object for Ipopt specific tuning. More...
virtual void	setIterationCallback (callback_t callback)
const callback_t &	callback () const
const argument_t &	startingPoint () const
bool	userScaling () const
	Whether user scaling is used. More...

Detailed Description

template<typename T>
class roboptim::IpoptSolverCommon< T >

Ipopt common solver.

This solver shares common piece of code of the two solvers.

Member Typedef Documentation

template<typename T>

typedef problem_t::argument_t roboptim::IpoptSolverCommon< T >::argument_t

template<typename T>

typedef T::callback_t roboptim::IpoptSolverCommon< T >::callback_t

template<typename T>

typedef problem_t::function_t roboptim::IpoptSolverCommon< T >::function_t

template<typename T>

typedef T roboptim::IpoptSolverCommon< T >::parent_t

Parent type.

template<typename T>

typedef T::problem_t roboptim::IpoptSolverCommon< T >::problem_t

Member Enumeration Documentation

template<typename T>

enum roboptim::IpoptSolverCommon::ConstraintType

Categorize constraints.

Used with the which method of the Boost.Variant, it allows to check for a constraint's real type.

Warning

Make sure to keep enum values in the same order than the MPL vector used to specify CLIST.

Enumerator
LINEAR	Constraint is a linear function.
NONLINEAR	Constraint is a differentiable or a twice differentiable function depending on the solve.

Constructor & Destructor Documentation

template<typename T >

roboptim::IpoptSolverCommon< T >::IpoptSolverCommon ( const problem_t &  pb, Ipopt::SmartPtr< Ipopt::TNLP >  tnlp  )

explicit

Instantiate the solver from a problem.

Parameters

pb	problem that will be solved.
tnlp	pointer to Ipopt solver.

IPOPT_VERSION_MAJOR

template<typename T >

roboptim::IpoptSolverCommon< T >::~IpoptSolverCommon ( )

virtual

Member Function Documentation

template<typename T>

const callback_t& roboptim::IpoptSolverCommon< T >::callback ( ) const

inline

Referenced by roboptim::IpoptSolverCommon< Solver< EigenMatrixDense > >::setIterationCallback().

template<typename T >

Ipopt::SmartPtr< Ipopt::IpoptApplication > roboptim::IpoptSolverCommon< T >::getIpoptApplication ( )

virtual

Get Ipopt Application object for Ipopt specific tuning.

Consult Ipopt documentation for information regarding IpoptApplication class.

template<typename T>

virtual void roboptim::IpoptSolverCommon< T >::setIterationCallback ( callback_t  callback )

inlinevirtual

template<typename T >

void roboptim::IpoptSolverCommon< T >::solve

(

)

Solve the problem.

References MAP_IPOPT_ERRORS, MAP_IPOPT_FATALS, MAP_IPOPT_OKS, SWITCH_ERROR, SWITCH_FATAL, and SWITCH_OK.

template<typename T>

const argument_t& roboptim::IpoptSolverCommon< T >::startingPoint ( ) const

inline

template<typename T>

bool roboptim::IpoptSolverCommon< T >::userScaling ( ) const

inline

Whether user scaling is used.