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66 lines
2.2 KiB
66 lines
2.2 KiB
2 years ago
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/* clang-format off to disable clang-format-includes */
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#include "drake/solvers/mosek_solver.h"
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/* clang-format on */
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#include <cstdlib>
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#include <cstring>
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#include "drake/common/never_destroyed.h"
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#include "drake/solvers/aggregate_costs_constraints.h"
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#include "drake/solvers/mathematical_program.h"
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namespace drake {
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namespace solvers {
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MosekSolver::MosekSolver()
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: SolverBase(id(), &is_available, &is_enabled, &ProgramAttributesSatisfied,
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&UnsatisfiedProgramAttributes) {}
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MosekSolver::~MosekSolver() = default;
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SolverId MosekSolver::id() {
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static const never_destroyed<SolverId> singleton{"Mosek"};
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return singleton.access();
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}
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bool MosekSolver::is_enabled() {
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const char* moseklm_license_file = std::getenv("MOSEKLM_LICENSE_FILE");
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return ((moseklm_license_file != nullptr) &&
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(std::strlen(moseklm_license_file) > 0));
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}
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namespace {
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// If the program is compatible with this solver, returns true and clears the
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// explanation. Otherwise, returns false and sets the explanation. In either
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// case, the explanation can be nullptr in which case it is ignored.
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bool CheckAttributes(const MathematicalProgram& prog,
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std::string* explanation) {
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static const never_destroyed<ProgramAttributes> solver_capabilities(
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std::initializer_list<ProgramAttribute>{
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ProgramAttribute::kLinearEqualityConstraint,
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ProgramAttribute::kLinearConstraint,
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ProgramAttribute::kLorentzConeConstraint,
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ProgramAttribute::kRotatedLorentzConeConstraint,
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ProgramAttribute::kPositiveSemidefiniteConstraint,
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ProgramAttribute::kExponentialConeConstraint,
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ProgramAttribute::kLinearCost, ProgramAttribute::kQuadraticCost,
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ProgramAttribute::kBinaryVariable});
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return internal::CheckConvexSolverAttributes(
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prog, solver_capabilities.access(), "MosekSolver", explanation);
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}
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} // namespace
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bool MosekSolver::ProgramAttributesSatisfied(const MathematicalProgram& prog) {
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return CheckAttributes(prog, nullptr);
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}
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std::string MosekSolver::UnsatisfiedProgramAttributes(
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const MathematicalProgram& prog) {
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std::string explanation;
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CheckAttributes(prog, &explanation);
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return explanation;
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}
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} // namespace solvers
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} // namespace drake
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