tnlp.hxx File Reference

#include <boost/shared_ptr.hpp>
#include <boost/mpl/assert.hpp>
#include <boost/mpl/at.hpp>
#include <boost/mpl/size.hpp>
#include <boost/mpl/vector.hpp>
#include <roboptim/core/plugin/ipopt/ipopt-td.hh>
#include <roboptim/core/plugin/ipopt/ipopt-sparse.hh>
#include <roboptim/core/debug.hh>
#include <roboptim/core/result.hh>
#include <coin/IpIpoptCalculatedQuantities.hpp>
#include <coin/IpIpoptData.hpp>
#include <coin/IpOrigIpoptNLP.hpp>
#include <coin/IpTNLPAdapter.hpp>

Namespaces
namespace	roboptim
	Meta-functions, functions and solvers related classes.
namespace	roboptim::detail

Macros
#define	FILL_RESULT()
#define	SWITCH_ERROR(NAME, ERROR)
#define	SWITCH_WARNING(NAME, WARNING)
#define	MAP_IPOPT_ERRORS(MACRO)
#define	MAP_IPOPT_WARNINGS(MACRO)

Functions
template<typename T , typename F >
void	roboptim::detail::IpoptCheckGradient (const F &, unsigned, const Eigen::Map< const Function::vector_t > &, int, T &)
template<typename T >
void	roboptim::detail::fillMultipliers (Function::vector_t &multipliers, const Function::value_type *z_L, const Function::value_type *z_U, const Function::value_type *lambda, Function::size_type n, Function::size_type m, const Solver< T > &solver)
	ROBOPTIM_CORE_IPOPT_PLUGIN_CHECK_GRADIENT. More...
void	roboptim::detail::jacobianFromGradients (DerivableFunction::matrix_t &jac, const IpoptSolver::problem_t::constraints_t &c, const DerivableFunction::vector_t &x)
template<typename T >
Tnlp< T >::size_type	roboptim::detail::computeConstraintsOutputSize (const T &solver)

Macro Definition Documentation

#define FILL_RESULT

(

)

Value:

res.x = Eigen::Map<const Function::argument_t> (x, n);    \
    res.constraints = Eigen::Map<const Function::vector_t> (g, m);  \
    res.constraint_violation = ip_cq->unscaled_curr_nlp_constraint_violation \
                                 (Ipopt::NORM_MAX);     \
    res.lambda = Eigen::Map<const Function::vector_t> (lambda, m);  \
    fillMultipliers (res.lambda, z_L, z_U, lambda, n, m, solver_);  \
    res.value (0) = obj_value

Referenced by roboptim::detail::Tnlp< T >::finalize_solution().

#define MAP_IPOPT_ERRORS

(

MACRO

)

Value:

MACRO(MAXITER_EXCEEDED, "Max iteration exceeded");                  \
    MACRO(STOP_AT_TINY_STEP,            \
          "Algorithm proceeds with very little progress");    \
    MACRO(LOCAL_INFEASIBILITY,                                          \
          "Algorithm converged to a point of local infeasibility"); \
    MACRO(DIVERGING_ITERATES, "Iterate diverges");      \
    MACRO(RESTORATION_FAILURE, "Restoration phase failed");   \
    MACRO(ERROR_IN_STEP_COMPUTATION,          \
          "Unrecoverable error while Ipopt tried to compute"    \
          " the search direction");         \
    MACRO(INVALID_NUMBER_DETECTED,          \
          "Ipopt received an invalid number");                          \
    MACRO(INTERNAL_ERROR, "Unknown internal error");      \
    MACRO(TOO_FEW_DEGREES_OF_FREEDOM, "Two few degrees of freedom");  \
    MACRO(INVALID_OPTION, "Invalid option");        \
    MACRO(OUT_OF_MEMORY, "Out of memory");        \
    MACRO(CPUTIME_EXCEEDED, "CPU time exceeded")

Referenced by roboptim::detail::Tnlp< T >::finalize_solution().

#define MAP_IPOPT_WARNINGS

(

MACRO

)

Value:

MACRO(USER_REQUESTED_STOP, "User-requested stop");  \
    MACRO(STOP_AT_ACCEPTABLE_POINT, "Acceptable point")

Referenced by roboptim::detail::Tnlp< T >::finalize_solution().

#define SWITCH_ERROR	(		NAME,
			ERROR
	)

Value:

case NAME:                                          \
    {                                                   \
      Result res (n, 1);        \
      FILL_RESULT ();         \
      solver_.result_ = SolverError (ERROR, res); \
    }                                                   \
    break

Referenced by roboptim::detail::Tnlp< T >::finalize_solution().

#define SWITCH_WARNING	(		NAME,
			WARNING
	)

Value:

case NAME:                                          \
    {                                                   \
      Result res (n, 1);        \
      FILL_RESULT ();         \
      res.warnings.push_back (SolverWarning (WARNING)); \
      solver_.result_ = res;        \
    }                                                   \
    break

Referenced by roboptim::detail::Tnlp< T >::finalize_solution().