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#ifdef CROCODDYL_WITH_IPOPT |
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#define SCALAR_float64 |
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#include "crocoddyl/core/solvers/ipopt.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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#include "python/crocoddyl/utils/copyable.hpp" |
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namespace crocoddyl { |
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namespace python { |
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(SolverIpopt_solves, SolverIpopt::solve, |
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0, 5) |
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void exposeSolverIpopt() { |
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#ifdef SCALAR_float64 |
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bp::register_ptr_to_python<std::shared_ptr<SolverIpopt>>(); |
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bp::class_<SolverIpopt, bp::bases<SolverAbstract>>( |
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"SolverIpopt", |
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bp::init<const std::shared_ptr<crocoddyl::ShootingProblem>&>( |
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bp::args("self", "problem"), "Initialize solver")) |
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.def("solve", &SolverIpopt::solve, |
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SolverIpopt_solves( |
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bp::args("self", "init_xs", "init_us", "maxiter", "is_feasible", |
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"init_reg"), |
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"Compute the optimal trajectory xopt, uopt as lists of T+1 and " |
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"T terms.\n\n" |
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"From an initial guess init_xs,init_us (feasible or not), " |
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"iterate\n" |
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"over computeDirection and tryStep until stoppingCriteria is " |
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"below\n" |
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"threshold. It also describes the globalization strategy used\n" |
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"during the numerical optimization.\n" |
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":param init_xs: initial guess for state trajectory with T+1 " |
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"elements (default []).\n" |
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":param init_us: initial guess for control trajectory with T " |
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"elements (default []) (default []).\n" |
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":param maxiter: maximum allowed number of iterations (default " |
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"100).\n" |
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":param is_feasible: true if the init_xs are obtained from " |
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"integrating the init_us (rollout) (default " |
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"False).\n" |
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":param init_reg: initial guess for the regularization value. " |
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"Very low values are typical\n" |
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" used with very good guess points (init_xs, " |
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"init_us) (default None).\n" |
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":returns the optimal trajectory xopt, uopt and a boolean that " |
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"describes if convergence was reached.")) |
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.def("setStringIpoptOption", &SolverIpopt::setStringIpoptOption, |
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bp::args("self", "param_name", "param_value"), |
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"Sets a string option for IPOPT\n\n") |
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.def("setNumericIpoptOption", &SolverIpopt::setNumericIpoptOption, |
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bp::args("self", "param_name", "param_value"), |
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"Sets a numeric option for IPOPT\n\n") |
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.add_property("th_stop", bp::make_function(&SolverIpopt::get_th_stop), |
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bp::make_function(&SolverIpopt::set_th_stop), |
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"threshold for stopping criteria") |
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.def(CopyableVisitor<SolverIpopt>()); |
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#endif |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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#endif |
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