NlpSolver.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

#include <ct/optcon/nlp/Nlp.h>
#include "NlpSolverSettings.h"

namespace ct {
namespace optcon {
namespace tpl {

template <typename SCALAR>
class NlpSolver
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    NlpSolver() : isInitialized_(false) {}
    NlpSolver(std::shared_ptr<Nlp<SCALAR>> nlp) : nlp_(nlp) {}
    NlpSolver(std::shared_ptr<Nlp<SCALAR>> nlp, NlpSolverSettings settings)
        : nlp_(nlp), settings_(settings), isInitialized_(false)
    {
    }

    virtual ~NlpSolver() = default;
    void configure(const NlpSolverSettings& settings)
    {
        settings_ = settings;
        configureDerived(settings);
    }

    virtual void configureDerived(const NlpSolverSettings& settings) = 0;

    virtual bool solve() = 0;

    virtual void prepareWarmStart(const size_t maxIterations) = 0;

    bool isInitialized() { return isInitialized_; }
protected:
    std::shared_ptr<Nlp<SCALAR>> nlp_; 
    NlpSolverSettings settings_;       
    bool isInitialized_;               
};
}

using NlpSolver = tpl::NlpSolver<double>;

}  // namespace optcon
}  // namespace ct