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

#include <tnlp.hh>

List of all members.

Public Types
typedef T	solver_t
typedef SolverState< typename solver_t::problem_t >	solverState_t
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	ipoptMatrix_t
Public Member Functions
	Tnlp (const typename solver_t::problem_t &pb, solver_t &solver)
Function::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_function_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).

template<typename T>
class roboptim::detail::Tnlp< T >

---

Member Typedef Documentation

template<typename T >

typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> roboptim::detail::Tnlp< T >::ipoptMatrix_t

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
	)		[inline, protected]

template<typename T >

Function::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]

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

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_function_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 [static, protected]

Pointer to function logger (see log4cxx documentation).