ct::optcon::tpl::NlpSolver< SCALAR > Class Template Reference

Abstract base class for the NLP solvers. More...

#include <NlpSolver.h>

Inheritance diagram for ct::optcon::tpl::NlpSolver< SCALAR >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	NlpSolver ()
	Default constructor. More...
	NlpSolver (std::shared_ptr< Nlp< SCALAR >> nlp)
	Custom Constructor 1. More...
	NlpSolver (std::shared_ptr< Nlp< SCALAR >> nlp, NlpSolverSettings settings)
	Custom constructor 2. More...
virtual	~NlpSolver ()=default
	Destructor. More...
void	configure (const NlpSolverSettings &settings)
	Configures the solver with new settings. More...
virtual void	configureDerived (const NlpSolverSettings &settings)=0
	Forwards the settings to the corresponding nlp solver. More...
virtual bool	solve ()=0
	Solves the nlp. More...
virtual void	prepareWarmStart (const size_t maxIterations)=0
	Prepares the solver for a warmstarting scenario with available (good) initial guess. More...
bool	isInitialized ()

Protected Attributes
std::shared_ptr< Nlp< SCALAR > >	nlp_
NlpSolverSettings	settings_
bool	isInitialized_

Detailed Description

template<typename SCALAR>
class ct::optcon::tpl::NlpSolver< SCALAR >

Abstract base class for the NLP solvers.

Constructor & Destructor Documentation

NlpSolver() [1/3]

template<typename SCALAR >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ct::optcon::tpl::NlpSolver< SCALAR >::NlpSolver ( )

inline

Default constructor.

NlpSolver() [2/3]

template<typename SCALAR >

ct::optcon::tpl::NlpSolver< SCALAR >::NlpSolver ( std::shared_ptr< Nlp< SCALAR >>  nlp )

inline

Custom Constructor 1.

Parameters

[in]

nlp

The nlp

NlpSolver() [3/3]

template<typename SCALAR >

ct::optcon::tpl::NlpSolver< SCALAR >::NlpSolver ( std::shared_ptr< Nlp< SCALAR >>  nlp, NlpSolverSettings  settings  )

inline

Custom constructor 2.

Parameters

[in]	nlp	The nlp
[in]	settings	Custom user settings

References ct::optcon::tpl::NlpSolver< SCALAR >::~NlpSolver().

~NlpSolver()

template<typename SCALAR >

virtual ct::optcon::tpl::NlpSolver< SCALAR >::~NlpSolver ( )

virtualdefault

Destructor.

Referenced by ct::optcon::tpl::NlpSolver< SCALAR >::NlpSolver().

Member Function Documentation

configure()

template<typename SCALAR >

void ct::optcon::tpl::NlpSolver< SCALAR >::configure ( const NlpSolverSettings &  settings )

inline

Configures the solver with new settings.

Parameters

[in]

settings

The nlp solver settings

References ct::optcon::tpl::NlpSolver< SCALAR >::configureDerived(), ct::optcon::tpl::NlpSolver< SCALAR >::prepareWarmStart(), ct::optcon::tpl::NlpSolver< SCALAR >::settings_, and ct::optcon::tpl::NlpSolver< SCALAR >::solve().

configureDerived()

template<typename SCALAR >

virtual void ct::optcon::tpl::NlpSolver< SCALAR >::configureDerived ( const NlpSolverSettings &  settings )

pure virtual

Forwards the settings to the corresponding nlp solver.

Parameters

[in]

settings

The nlp settings

Implemented in ct::optcon::SnoptSolver, and ct::optcon::tpl::IpoptSolver< SCALAR >.

Referenced by ct::optcon::tpl::NlpSolver< SCALAR >::configure().

solve()

template<typename SCALAR >

virtual bool ct::optcon::tpl::NlpSolver< SCALAR >::solve ( )

pure virtual

Solves the nlp.

Returns

Returns true of solve succeeded

Implemented in ct::optcon::SnoptSolver, and ct::optcon::tpl::IpoptSolver< SCALAR >.

Referenced by ct::optcon::tpl::NlpSolver< SCALAR >::configure().

prepareWarmStart()

template<typename SCALAR >

virtual void ct::optcon::tpl::NlpSolver< SCALAR >::prepareWarmStart ( const size_t  maxIterations )

pure virtual

Prepares the solver for a warmstarting scenario with available (good) initial guess.

Parameters

[in]

maxIterations

Specifies the maximum number of nlp iteration the user is willing to spend

Implemented in ct::optcon::SnoptSolver, and ct::optcon::tpl::IpoptSolver< SCALAR >.

Referenced by ct::optcon::tpl::NlpSolver< SCALAR >::configure().

isInitialized()

template<typename SCALAR >

bool ct::optcon::tpl::NlpSolver< SCALAR >::isInitialized ( )

inline

References ct::optcon::tpl::NlpSolver< SCALAR >::isInitialized_.

Member Data Documentation

nlp_

template<typename SCALAR >

std::shared_ptr<Nlp<SCALAR> > ct::optcon::tpl::NlpSolver< SCALAR >::nlp_

protected

The non linear program

settings_

template<typename SCALAR >

NlpSolverSettings ct::optcon::tpl::NlpSolver< SCALAR >::settings_

protected

The nlp settings

Referenced by ct::optcon::tpl::NlpSolver< SCALAR >::configure().

isInitialized_

template<typename SCALAR >

bool ct::optcon::tpl::NlpSolver< SCALAR >::isInitialized_

protected

Indicates whether the solver is initialized

Referenced by ct::optcon::tpl::NlpSolver< SCALAR >::isInitialized().

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The documentation for this class was generated from the following file:

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/nlp/solver/NlpSolver.h