roboptim::detail::Tnlp< T > Class Template Reference

#include <tnlp.hh>

Inheritance diagram for roboptim::detail::Tnlp< T >:

Public Types
typedef T	solver_t
typedef SolverState< typename solver_t::problem_t >	solverState_t
typedef Function::size_type	size_type

Public Member Functions
	Tnlp (const typename solver_t::problem_t &pb, solver_t &solver)
size_type	constraintsOutputSize ()
virtual bool	get_nlp_info (Index &n, Index &m, Index &nnz_jac_g, Index &nnz_h_lag, TNLP::IndexStyleEnum &index_style)
virtual bool	get_bounds_info (Index n, Number *x_l, Number *x_u, Index m, Number *g_l, Number *g_u)
virtual bool	get_scaling_parameters (Number &, bool &use_x_scaling, Index n, Number *x_scaling, bool &use_g_scaling, Index m, Number *g_scaling)
virtual bool	get_variables_linearity (Index n, LinearityType *var_types)
virtual bool	get_constraints_linearity (Index m, LinearityType *const_types)
virtual bool	get_starting_point (Index n, bool init_x, Number *x, bool init_z, Number *z_L, Number *z_U, Index m, bool init_lambda, Number *)
virtual bool	get_warm_start_iterate (Ipopt::IteratesVector &)
virtual bool	eval_f (Index n, const Number *x, bool new_x, Number &obj_value)
virtual bool	eval_grad_f (Index n, const Number *x, bool new_x, Number *grad_f)
virtual bool	eval_g (Index n, const Number *x, bool new_x, Index m, Number *g)
virtual bool	eval_jac_g (Index n, const Number *x, bool new_x, Index m, Index, Index *iRow, Index *jCol, Number *values)
virtual bool	eval_h (Index n, const Number *x, bool, Number obj_factor, Index m, const Number *lambda, bool, Index nele_hess, Index *iRow, Index *jCol, Number *values)
virtual void	finalize_solution (Ipopt::SolverReturn status, Index n, const Number *x, const Number *, const Number *, Index m, const Number *g, const Number *lambda, Number obj_value, const Ipopt::IpoptData *, Ipopt::IpoptCalculatedQuantities *)
virtual bool	intermediate_callback (Ipopt::AlgorithmMode, Index, Number, Number, Number, Number, Number, Number, Number, Number, Index, const Ipopt::IpoptData *, Ipopt::IpoptCalculatedQuantities *)
virtual Index	get_number_of_nonlinear_variables ()
virtual bool	get_list_of_nonlinear_variables (Index, Index *)
template<>
bool	get_nlp_info (Index &n, Index &m, Index &nnz_jac_g, Index &nnz_h_lag, TNLP::IndexStyleEnum &index_style)
template<>
bool	eval_jac_g (Index n, const Number *x, bool, Index ROBOPTIM_DEBUG_ONLY(m), Index nele_jac, Index *iRow, Index *jCol, Number *values)
template<>
bool	get_nlp_info (Index &n, Index &m, Index &nnz_jac_g, Index &nnz_h_lag, TNLP::IndexStyleEnum &index_style)
template<>
bool	eval_jac_g (Index n, const Number *x, bool, Index m, Index nele_jac, Index *iRow, Index *jCol, Number *values)
template<>
bool	eval_h (Index n, const Number *x, bool, Number obj_factor, Index ROBOPTIM_DEBUG_ONLY(m), const Number *lambda, bool, Index ROBOPTIM_DEBUG_ONLY(nele_hess), Index *iRow, Index *jCol, Number *values)

Protected Member Functions
void	compute_hessian (TwiceDifferentiableFunction::hessian_t &h, const typename solver_t::vector_t &x, Number obj_factor, const Number *lambda)
template<>
void	compute_hessian (TwiceDifferentiableFunction::hessian_t &h, const solver_t::vector_t &x, Number obj_factor, const Number *lambda)

Static Protected Attributes
static log4cxx::LoggerPtr	logger
	Pointer to function logger (see log4cxx documentation). More...

Member Typedef Documentation

template<typename T>

typedef Function::size_type roboptim::detail::Tnlp< T >::size_type

template<typename T>

typedef T roboptim::detail::Tnlp< T >::solver_t

template<typename T>

typedef SolverState<typename solver_t::problem_t> roboptim::detail::Tnlp< T >::solverState_t

Constructor & Destructor Documentation

template<typename T >

roboptim::detail::Tnlp< T >::Tnlp	(	const typename solver_t::problem_t &	pb,
		solver_t &	solver
	)

Member Function Documentation

template<typename T>

void roboptim::detail::Tnlp< T >::compute_hessian ( TwiceDifferentiableFunction::hessian_t &  h, const typename solver_t::vector_t &  x, Number  obj_factor, const Number *  lambda  )

protected

template<>

void roboptim::detail::Tnlp< IpoptSolverTd >::compute_hessian ( TwiceDifferentiableFunction::hessian_t &  h, const solver_t::vector_t &  x, Number  obj_factor, const Number *  lambda  )

inlineprotected

template<typename T >

Tnlp< T >::size_type roboptim::detail::Tnlp< T >::constraintsOutputSize

(

)

References roboptim::detail::computeConstraintsOutputSize().

template<typename T >

bool roboptim::detail::Tnlp< T >::eval_f ( Index  n, const Number *  x, bool  new_x, Number &  obj_value  )

virtual

template<typename T >

bool roboptim::detail::Tnlp< T >::eval_g ( Index  n, const Number *  x, bool  new_x, Index  m, Number *  g  )

virtual

template<typename T >

bool roboptim::detail::Tnlp< T >::eval_grad_f ( Index  n, const Number *  x, bool  new_x, Number *  grad_f  )

virtual

References roboptim::detail::IpoptCheckGradient().

template<typename T >

bool roboptim::detail::Tnlp< T >::eval_h ( Index  n, const Number *  x, bool  , Number  obj_factor, Index  m, const Number *  lambda, bool  , Index  nele_hess, Index *  iRow, Index *  jCol, Number *  values  )

virtual

template<>

bool roboptim::detail::Tnlp< IpoptSolverTd >::eval_h ( Index  n, const Number *  x, bool  , Number  obj_factor, Index   ROBOPTIM_DEBUG_ONLYm, const Number *  lambda, bool  , Index   ROBOPTIM_DEBUG_ONLYnele_hess, Index *  iRow, Index *  jCol, Number *  values  )

inline

template<>

bool roboptim::detail::Tnlp< IpoptSolverSparse >::eval_jac_g	(	Index	n,
		const Number *	x,
		bool	,
		Index	ROBOPTIM_DEBUG_ONLYm,
		Index	nele_jac,
		Index *	iRow,
		Index *	jCol,
		Number *	values
	)

References roboptim::detail::IpoptCheckGradient().

template<typename T >

bool roboptim::detail::Tnlp< T >::eval_jac_g ( Index  n, const Number *  x, bool  new_x, Index  m, Index  , Index *  iRow, Index *  jCol, Number *  values  )

virtual

References roboptim::detail::IpoptCheckGradient().

template<>

bool roboptim::detail::Tnlp< IpoptSolverSparse >::eval_jac_g	(	Index	n,
		const Number *	x,
		bool	,
		Index	m,
		Index	nele_jac,
		Index *	iRow,
		Index *	jCol,
		Number *	values
	)

template<typename T>

void roboptim::detail::Tnlp< T >::finalize_solution ( Ipopt::SolverReturn  status, Index  n, const Number *  x, const Number *  , const Number *  , Index  m, const Number *  g, const Number *  lambda, Number  obj_value, const Ipopt::IpoptData *  , Ipopt::IpoptCalculatedQuantities *    )

virtual

References FILL_RESULT, MAP_IPOPT_ERRORS, MAP_IPOPT_WARNINGS, SWITCH_ERROR, and SWITCH_WARNING.

template<typename T>

bool roboptim::detail::Tnlp< T >::get_bounds_info ( Index  n, Number *  x_l, Number *  x_u, Index  m, Number *  g_l, Number *  g_u  )

virtual

template<typename T>

bool roboptim::detail::Tnlp< T >::get_constraints_linearity ( Index  m, LinearityType *  const_types  )

virtual

template<typename T >

bool roboptim::detail::Tnlp< T >::get_list_of_nonlinear_variables ( Index  , Index *    )

virtual

template<>

bool roboptim::detail::Tnlp< IpoptSolverSparse >::get_nlp_info	(	Index &	n,
		Index &	m,
		Index &	nnz_jac_g,
		Index &	nnz_h_lag,
		TNLP::IndexStyleEnum &	index_style
	)

template<typename T >

bool roboptim::detail::Tnlp< T >::get_nlp_info ( Index &  n, Index &  m, Index &  nnz_jac_g, Index &  nnz_h_lag, TNLP::IndexStyleEnum &  index_style  )

virtual

template<>

bool roboptim::detail::Tnlp< IpoptSolverSparse >::get_nlp_info	(	Index &	n,
		Index &	m,
		Index &	nnz_jac_g,
		Index &	nnz_h_lag,
		TNLP::IndexStyleEnum &	index_style
	)

template<typename T >

Index roboptim::detail::Tnlp< T >::get_number_of_nonlinear_variables ( )

virtual

template<typename T>

bool roboptim::detail::Tnlp< T >::get_scaling_parameters ( Number &  , bool &  use_x_scaling, Index  n, Number *  x_scaling, bool &  use_g_scaling, Index  m, Number *  g_scaling  )

virtual

template<typename T>

bool roboptim::detail::Tnlp< T >::get_starting_point ( Index  n, bool  init_x, Number *  x, bool  init_z, Number *  z_L, Number *  z_U, Index  m, bool  init_lambda, Number *    )

virtual

template<typename T >

bool roboptim::detail::Tnlp< T >::get_variables_linearity ( Index  n, LinearityType *  var_types  )

virtual

template<typename T>

bool roboptim::detail::Tnlp< T >::get_warm_start_iterate ( Ipopt::IteratesVector &  )

virtual

template<typename T>

bool roboptim::detail::Tnlp< T >::intermediate_callback ( Ipopt::AlgorithmMode  , Index  , Number  , Number  , Number  , Number  , Number  , Number  , Number  , Number  , Index  , const Ipopt::IpoptData *  , Ipopt::IpoptCalculatedQuantities *    )

virtual

Member Data Documentation

template<typename T>

log4cxx::LoggerPtr roboptim::detail::Tnlp< T >::logger

staticprotected

Pointer to function logger (see log4cxx documentation).