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85 lines
2.6 KiB
85 lines
2.6 KiB
2 years ago
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#pragma once
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#include <string>
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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 SNOPT solver details after calling Solve() function. The user can call
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* MathematicalProgramResult::get_solver_details<SnoptSolver>() to obtain the
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* details.
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*/
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struct SnoptSolverDetails {
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/**
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* The snopt INFO field. Please refer to section 8.6
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* in "User's Guide for SNOPT Version 7: Software for Large-Scale Nonlinear
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* Programming" (https://web.stanford.edu/group/SOL/guides/sndoc7.pdf) by
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* Philip E. Gill to interpret the INFO field.
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*/
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int info{};
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/** The final value of the dual variables for the bound constraint x_lower <=
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* x <= x_upper.
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*/
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Eigen::VectorXd xmul;
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/** The final value of the vector of problem functions F(x).
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*/
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Eigen::VectorXd F;
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/** The final value of the dual variables (Lagrange multipliers) for the
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* general constraints F_lower <= F(x) <= F_upper.
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*/
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Eigen::VectorXd Fmul;
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};
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/**
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* An implementation of SolverInterface for the commercially-licensed SNOPT
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* solver (https://ccom.ucsd.edu/~optimizers/solvers/snopt/).
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*
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* Builds of Drake from source do not compile SNOPT by default, so therefore
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* SolverInterface::available() will return false. You must opt-in to build
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* SNOPT per the documentation at https://drake.mit.edu/bazel.html#snopt.
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*
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* <a href="https://drake.mit.edu/installation.html">Drake's
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* pre-compiled binary releases</a> do incorporate SNOPT, so therefore
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* SolverInterface::available() will return true.
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* Thanks to Philip E. Gill and Elizabeth Wong for their kind support.
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*
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* There is no license configuration required to use SNOPT, so
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* SolverInterface::enabled() will always return true.
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*/
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class SnoptSolver final : public SolverBase {
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public:
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DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(SnoptSolver)
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/// Type of details stored in MathematicalProgramResult.
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using Details = SnoptSolverDetails;
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SnoptSolver();
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~SnoptSolver() final;
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/// For some reason, SNOPT 7.4 fails to detect a simple LP being unbounded.
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static bool is_bounded_lp_broken();
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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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//@}
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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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