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92 lines
3.8 KiB
92 lines
3.8 KiB
#pragma once
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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/solvers/mathematical_program.h"
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#include "drake/solvers/mathematical_program_result.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_options.h"
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namespace drake {
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namespace solvers {
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/// Interface used by implementations of individual solvers.
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class SolverInterface {
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public:
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DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(SolverInterface)
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virtual ~SolverInterface();
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/// Returns true iff support for this solver has been compiled into Drake.
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/// When this method returns false, the Solve method will throw.
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///
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/// Most solver implementations will always return true, but certain solvers
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/// may have been excluded at compile-time due to licensing restrictions, or
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/// to narrow Drake's dependency footprint. In Drake's default build, only
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/// commercially-licensed solvers might return false.
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///
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/// Contrast this with enabled(), which reflects whether a solver has been
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/// configured for use at runtime (not compile-time).
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///
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/// For details on linking commercial solvers, refer to the solvers' class
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/// overview documentation, e.g., SnoptSolver, MosekSolver, GurobiSolver.
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virtual bool available() const = 0;
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/// Returns true iff this solver is properly configured for use at runtime.
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/// When this method returns false, the Solve method will throw.
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///
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/// Most solver implementation will always return true, but certain solvers
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/// require additional configuration before they may be used, e.g., setting
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/// an environment variable to specify a license file or license server.
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/// In Drake's default build, only commercially-licensed solvers might return
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/// false.
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///
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/// Contrast this with available(), which reflects whether a solver has been
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/// incorporated into Drake at compile-time (and has nothing to do with the
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/// runtime configuration). A solver where available() returns false may still
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/// return true for enabled() if it is properly configured.
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///
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/// The mechanism to configure a particular solver implementation is specific
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/// to the solver in question, but typically uses an environment variable.
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/// For details on configuring commercial solvers, refer to the solvers' class
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/// overview documentation, e.g., SnoptSolver, MosekSolver, GurobiSolver.
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virtual bool enabled() const = 0;
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/// Solves an optimization program with optional initial guess and solver
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/// options. Note that these initial guess and solver options are not written
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/// to @p prog.
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/// If the @p prog has set an option for a solver, and @p solver_options
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/// contains a different value for the same option on the same solver, then @p
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/// solver_options takes priority.
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/// Derived implementations of this interface may elect to throw
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/// std::exception for badly formed programs.
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virtual void Solve(const MathematicalProgram& prog,
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const std::optional<Eigen::VectorXd>& initial_guess,
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const std::optional<SolverOptions>& solver_options,
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MathematicalProgramResult* result) const = 0;
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/// Returns the identifier of this solver.
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virtual SolverId solver_id() const = 0;
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/// Returns true iff the program's attributes are compatible with this
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/// solver's capabilities.
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virtual bool AreProgramAttributesSatisfied(
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const MathematicalProgram& prog) const = 0;
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/// Describes the reasons (if any) why the program is incompatible with this
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/// solver's capabilities. If AreProgramAttributesSatisfied would return true
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/// for the program, then this function returns the empty string.
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virtual std::string ExplainUnsatisfiedProgramAttributes(
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const MathematicalProgram& prog) const = 0;
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protected:
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SolverInterface();
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};
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} // namespace solvers
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} // namespace drake
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