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88 lines
3.7 KiB
88 lines
3.7 KiB
2 years ago
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#pragma once
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#include <functional>
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#include <optional>
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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/common/drake_deprecated.h"
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#include "drake/solvers/mathematical_program.h"
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#include "drake/solvers/solution_result.h"
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#include "drake/solvers/solver_id.h"
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#include "drake/solvers/solver_interface.h"
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#include "drake/solvers/solver_options.h"
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namespace drake {
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namespace solvers {
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/** Abstract base class used by implementations of individual solvers. */
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class SolverBase : public SolverInterface {
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public:
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DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(SolverBase)
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~SolverBase() override;
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/** Like SolverInterface::Solve(), but the result is a return value instead of
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an output argument. */
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MathematicalProgramResult Solve(
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const MathematicalProgram& prog,
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const std::optional<Eigen::VectorXd>& initial_guess = std::nullopt,
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const std::optional<SolverOptions>& solver_options = std::nullopt) const;
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// Implement the SolverInterface methods.
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void Solve(const MathematicalProgram&, const std::optional<Eigen::VectorXd>&,
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const std::optional<SolverOptions>&,
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MathematicalProgramResult*) const override;
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bool available() const override;
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bool enabled() const override;
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SolverId solver_id() const override;
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bool AreProgramAttributesSatisfied(const MathematicalProgram&) const override;
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std::string ExplainUnsatisfiedProgramAttributes(
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const MathematicalProgram&) const override;
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protected:
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/** Constructs a SolverBase with the given default implementations of the
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solver_id(), available(), enabled(), AreProgramAttributesSatisfied(), and
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ExplainUnsatisfiedProgramAttributes() methods. Typically, the subclass will
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simply pass the address of its static method, e.g., `&available`, for these
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functors. Any of the functors can be nullptr, in which case the subclass must
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override the matching virtual method instead, except for `explain_unsatisfied`
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which already has a default implementation. */
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SolverBase(const SolverId& id, std::function<bool()> available,
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std::function<bool()> enabled,
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std::function<bool(const MathematicalProgram&)> are_satisfied,
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std::function<std::string(const MathematicalProgram&)>
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explain_unsatisfied = nullptr);
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DRAKE_DEPRECATED("2023-06-01", "Pass SolverId directly as the first argument")
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SolverBase(std::function<SolverId()> id, std::function<bool()> available,
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std::function<bool()> enabled,
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std::function<bool(const MathematicalProgram&)> are_satisfied,
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std::function<std::string(const MathematicalProgram&)>
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explain_unsatisfied = nullptr);
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/** Hook for subclasses to implement Solve. Prior to the SolverBase's call to
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this method, the solver's availability and capabilities vs the program
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attributes have already been checked, and the result's set_solver_id() and
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set_decision_variable_index() have already been set. The options and initial
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guess are already merged, i.e., the DoSolve implementation should ignore
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prog's solver options and prog's initial guess. */
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virtual void DoSolve(const MathematicalProgram& prog,
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const Eigen::VectorXd& initial_guess,
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const SolverOptions& merged_options,
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MathematicalProgramResult* result) const = 0;
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private:
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SolverId solver_id_;
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std::function<bool()> default_available_;
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std::function<bool()> default_enabled_;
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std::function<bool(const MathematicalProgram&)> default_are_satisfied_;
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std::function<std::string(const MathematicalProgram&)>
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default_explain_unsatisfied_;
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};
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} // namespace solvers
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} // namespace drake
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