forked from pz4kybsvg/Conception
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
47 lines
1.8 KiB
47 lines
1.8 KiB
#pragma once
|
|
|
|
#include <optional>
|
|
#include <string>
|
|
#include <vector>
|
|
|
|
#include "drake/solvers/mathematical_program.h"
|
|
#include "drake/solvers/mathematical_program_result.h"
|
|
#include "drake/solvers/solver_base.h"
|
|
|
|
namespace drake {
|
|
namespace solvers {
|
|
/**
|
|
* Solves an optimization program, with optional initial guess and solver
|
|
* options. This function first chooses the best solver depending on the
|
|
* availability of the solver and the program formulation; it then constructs
|
|
* that solver and call the Solve function of that solver. The optimization
|
|
* result is stored in the return argument.
|
|
* @param prog Contains the formulation of the program, and possibly solver
|
|
* options.
|
|
* @param initial_guess The initial guess for the decision variables.
|
|
* @param solver_options The options in addition to those stored in @p prog.
|
|
* For each option entry (like print out), there are 4 ways to set that option,
|
|
* and the priority given to the solver options is as follows (from lowest /
|
|
* least, to highest / most):
|
|
* 1. common option set on the MathematicalProgram itself
|
|
* 2. common option passed as an argument to Solve
|
|
* 3. solver-specific option set on the MathematicalProgram itself
|
|
* 4. solver-specific option passed as an argument to Solve
|
|
* @return result The result of solving the program through the solver.
|
|
*/
|
|
MathematicalProgramResult Solve(
|
|
const MathematicalProgram& prog,
|
|
const std::optional<Eigen::VectorXd>& initial_guess,
|
|
const std::optional<SolverOptions>& solver_options);
|
|
|
|
/**
|
|
* Solves an optimization program with a given initial guess.
|
|
*/
|
|
MathematicalProgramResult Solve(
|
|
const MathematicalProgram& prog,
|
|
const Eigen::Ref<const Eigen::VectorXd>& initial_guess);
|
|
|
|
MathematicalProgramResult Solve(const MathematicalProgram& prog);
|
|
} // namespace solvers
|
|
} // namespace drake
|