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68 lines
1.9 KiB
68 lines
1.9 KiB
2 years ago
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#pragma once
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#include <string>
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#include <Eigen/Core>
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#include "drake/common/drake_copyable.h"
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#include "drake/solvers/solver_base.h"
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namespace drake {
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namespace solvers {
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/**
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* The CLP solver details after calling Solve() function. The user can call
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* MathematicalProgramResult::get_solver_details<ClpSolver>() to obtain the
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* details.
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*/
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struct ClpSolverDetails {
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// Refer to ClpModel::status() function for the meaning of the status code.
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// -1: unknown error.
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// 0: optimal.
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// 1: primal infeasible
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// 2: dual infeasible
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// 3: stopped on iterations or time.
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// 4: stopped due to errors
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// 5: stopped by event handler
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int status;
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};
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/**
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* A wrapper to call CLP using Drake's MathematicalProgram.
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* @note Currently our ClpSolver has a memory issue when solving a QP. The user
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* should be aware of this risk.
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* @note The authors can adjust the problem scaling option by setting "scaling"
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as mentioned in
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https://github.com/coin-or/Clp/blob/43129ba1a7fd66ce70fe0761fcd696951917ed2e/src/ClpModel.hpp#L705-L706
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* For example
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* prog.SetSolverOption(ClpSolver::id(), "scaling", 0);
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* will do "no scaling". The default is 1.
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*/
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class ClpSolver final : public SolverBase {
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public:
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DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(ClpSolver)
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using Details = ClpSolverDetails;
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ClpSolver();
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~ClpSolver() final;
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/// @name Static versions of the instance methods with similar names.
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//@{
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static SolverId id();
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static bool is_available();
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static bool is_enabled();
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static bool ProgramAttributesSatisfied(const MathematicalProgram&);
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static std::string UnsatisfiedProgramAttributes(const MathematicalProgram&);
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//@}
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// A using-declaration adds these methods into our class's Doxygen.
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using SolverBase::Solve;
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private:
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void DoSolve(const MathematicalProgram&, const Eigen::VectorXd&,
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const SolverOptions&, MathematicalProgramResult*) const final;
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};
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} // namespace solvers
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} // namespace drake
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