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45 lines
1.5 KiB
45 lines
1.5 KiB
2 years ago
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/* clang-format off to disable clang-format-includes */
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#include "drake/solvers/snopt_solver.h"
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/* clang-format on */
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#include "drake/common/never_destroyed.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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SnoptSolver::SnoptSolver()
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: SolverBase(id(), &is_available, &is_enabled,
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&ProgramAttributesSatisfied) {}
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SnoptSolver::~SnoptSolver() = default;
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SolverId SnoptSolver::id() {
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static const never_destroyed<SolverId> singleton{"SNOPT"};
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return singleton.access();
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}
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bool SnoptSolver::is_enabled() {
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return true;
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}
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bool SnoptSolver::ProgramAttributesSatisfied(const MathematicalProgram& prog) {
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static const never_destroyed<ProgramAttributes> solver_capabilities(
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std::initializer_list<ProgramAttribute>{
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ProgramAttribute::kGenericConstraint,
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ProgramAttribute::kLinearEqualityConstraint,
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ProgramAttribute::kLinearConstraint,
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ProgramAttribute::kQuadraticConstraint,
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ProgramAttribute::kLorentzConeConstraint,
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ProgramAttribute::kRotatedLorentzConeConstraint,
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ProgramAttribute::kLinearComplementarityConstraint,
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ProgramAttribute::kGenericCost, ProgramAttribute::kLinearCost,
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ProgramAttribute::kL2NormCost, ProgramAttribute::kQuadraticCost,
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ProgramAttribute::kCallback});
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return AreRequiredAttributesSupported(prog.required_capabilities(),
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solver_capabilities.access());
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}
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} // namespace solvers
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} // namespace drake
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