GCC Code Coverage Report

Directory: ./
File: src/core/solvers/ipopt.cpp
Date: 2025-01-30 11:01:55
Exec Total Coverage
Lines: 21 38 55.3%
Branches: 20 66 30.3%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2022-2023, IRI: CSIC-UPC, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "crocoddyl/core/solvers/ipopt.hpp"
10
11 namespace crocoddyl {
12
13 6 SolverIpopt::SolverIpopt(std::shared_ptr<crocoddyl::ShootingProblem> problem)
14 : SolverAbstract(problem),
15
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 6 ipopt_iface_(new IpoptInterface(problem)),
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 12 ipopt_app_(IpoptApplicationFactory()) {
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 6 ipopt_app_->Options()->SetNumericValue("tol", th_stop_);
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 6 ipopt_app_->Options()->SetStringValue("mu_strategy", "adaptive");
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 6 ipopt_status_ = ipopt_app_->Initialize();
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 6 if (ipopt_status_ != Ipopt::Solve_Succeeded) {
23 ✗ std::cerr << "Error during IPOPT initialization!" << std::endl;
24 }
25 6 }
26
27 5 bool SolverIpopt::solve(const std::vector<Eigen::VectorXd>& init_xs,
28 const std::vector<Eigen::VectorXd>& init_us,
29 const std::size_t maxiter, const bool is_feasible,
30 const double /*reg_init*/) {
31 5 setCandidate(init_xs, init_us, is_feasible);
32 5 ipopt_iface_->set_xs(xs_);
33 5 ipopt_iface_->set_us(us_);
34
35
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 5 ipopt_app_->Options()->SetIntegerValue("max_iter",
36 static_cast<Ipopt::Index>(maxiter));
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 5 ipopt_status_ = ipopt_app_->OptimizeTNLP(ipopt_iface_);
38
39 5 std::copy(ipopt_iface_->get_xs().begin(), ipopt_iface_->get_xs().end(),
40 xs_.begin());
41 5 std::copy(ipopt_iface_->get_us().begin(), ipopt_iface_->get_us().end(),
42 us_.begin());
43 5 cost_ = ipopt_iface_->get_cost();
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 5 iter_ = ipopt_app_->Statistics()->IterationCount();
45
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 5 return ipopt_status_ == Ipopt::Solve_Succeeded ||
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 5 ipopt_status_ == Ipopt::Solved_To_Acceptable_Level;
48 }
49
50 ✗ void SolverIpopt::resizeData() {
51 ✗ SolverAbstract::resizeData();
52 ✗ ipopt_iface_->resizeData();
53 }
54
55 16 SolverIpopt::~SolverIpopt() {}
56
57 ✗ void SolverIpopt::computeDirection(const bool) {}
58
59 ✗ double SolverIpopt::tryStep(const double) { return 0.; }
60
61 ✗ double SolverIpopt::stoppingCriteria() { return 0.; }
62
63 ✗ const Eigen::Vector2d& SolverIpopt::expectedImprovement() { return d_; }
64
65 ✗ void SolverIpopt::setStringIpoptOption(const std::string& tag,
66 const std::string& value) {
67 ✗ ipopt_app_->Options()->SetStringValue(tag, value);
68 }
69
70 ✗ void SolverIpopt::setNumericIpoptOption(const std::string& tag,
71 Ipopt::Number value) {
72 ✗ ipopt_app_->Options()->SetNumericValue(tag, value);
73 }
74
75 ✗ void SolverIpopt::set_th_stop(const double th_stop) {
76 ✗ if (th_stop <= 0.) {
77 ✗ throw_pretty("Invalid argument: " << "th_stop value has to higher than 0.");
78 }
79 ✗ th_stop_ = th_stop;
80 ✗ ipopt_app_->Options()->SetNumericValue("tol", th_stop_);
81 }
82
83 } // namespace crocoddyl
84