roboptim::GenericSolver Class Reference

Abstract interface satisfied by all solvers. More...

#include <roboptim/core/generic-solver.hh>

Inheritance diagram for roboptim::GenericSolver:

Public Types
enum	solutions {   SOLVER_NO_SOLUTION,   SOLVER_VALUE,   SOLVER_ERROR,   SOLVER_VALUE_WARNINGS }
	Define the kind of solution which has been found. More...

Public Member Functions
void	reset ()
	Force to restart the optimization. More...
virtual void	solve ()=0
	Solve the problem. More...
const result_t &	minimum ()
	Returns the function minimum. More...
virtual std::ostream &	print (std::ostream &) const
	Display the solver on the specified output stream. More...
solutions	minimumType ()
	Determine real minimum type. More...
template<typename T >
const T &	getMinimum ()
	Get real result. More...
Constructors and destructors.
	GenericSolver ()
	GenericSolver (const GenericSolver &)
virtual	~GenericSolver ()

Public Attributes
ROBOPTIM_ALLOW_DEPRECATED_ON typedef boost::variant < NoSolution, Result, SolverError, ResultWithWarnings >	result_t
	Result type. More...

Protected Attributes
result_t	result_
	Optimization result. More...

Detailed Description

Abstract interface satisfied by all solvers.

Member Enumeration Documentation

enum roboptim::GenericSolver::solutions

Define the kind of solution which has been found.

Enumerator
SOLVER_NO_SOLUTION	Solution has yet to be found.
SOLVER_VALUE	Solution has been found.
SOLVER_ERROR	The solver failed to find a solution.
SOLVER_VALUE_WARNINGS	Solution has been found but some problems happened.

Constructor & Destructor Documentation

roboptim::GenericSolver::GenericSolver ( )

explicit

roboptim::GenericSolver::GenericSolver ( const GenericSolver &  solver )

explicit

roboptim::GenericSolver::~GenericSolver ( )

virtual

Member Function Documentation

template<typename T >

const T& roboptim::GenericSolver::getMinimum ( )

inline

Get real result.

Optimization results is wrapped in a Boost.Variant class, this method has to be used to retrieve the real result type.

Returns

real result

Exceptions

boost::bad_get

if a wrong type is used.

const GenericSolver::result_t & roboptim::GenericSolver::minimum

(

)

Returns the function minimum.

This solves the problem automatically, if it has not yet been solved.

See Also

minimumType()

getMinimum()

References result_, solve(), and SOLVER_NO_SOLUTION.

solutions roboptim::GenericSolver::minimumType ( )

inline

Determine real minimum type.

Returns

value representing result type

std::ostream & roboptim::GenericSolver::print ( std::ostream &  o ) const

virtual

Display the solver on the specified output stream.

Parameters

o	output stream used for display

Returns

output stream

Reimplemented in roboptim::Solver< T >, and roboptim::Solver< EigenMatrixDense >.

Referenced by roboptim::operator<<().

void roboptim::GenericSolver::reset

(

)

Force to restart the optimization.

Reset the internal mechanism to force the solution to be re-computed next time getMinimum() is called.

References result_.

virtual void roboptim::GenericSolver::solve ( )

pure virtual

Solve the problem.

Called automatically by getMinimum() if required.

Implemented in roboptim::GenericDummySolverLastState< T >, roboptim::GenericDummySolver< T >, and roboptim::DummySolverTd.

Referenced by minimum().

Member Data Documentation

result_t roboptim::GenericSolver::result_

protected

Optimization result.

Referenced by minimum(), reset(), and roboptim::DummySolverTd::solve().

ROBOPTIM_ALLOW_DEPRECATED_ON typedef boost::variant<NoSolution, Result, SolverError, ResultWithWarnings> roboptim::GenericSolver::result_t

Result type.

Uses a Boost.Variant to represent the different possible results:

• no solution (problem not yet solved),
• result (problem has been solved successfully, possibly with warnings),
• solver error (optimization has failed). Note: the usage of ResultWithWarnings is deprecated. Use Result directly.