| 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 | ✗ | SolverIpopt::SolverIpopt(std::shared_ptr<crocoddyl::ShootingProblem> problem) | |
| 14 | : SolverAbstract(problem), | ||
| 15 | ✗ | ipopt_iface_(new IpoptInterface(problem)), | |
| 16 | ✗ | ipopt_app_(IpoptApplicationFactory()) { | |
| 17 | ✗ | ipopt_app_->Options()->SetNumericValue("tol", th_stop_); | |
| 18 | ✗ | ipopt_app_->Options()->SetStringValue("mu_strategy", "adaptive"); | |
| 19 | |||
| 20 | ✗ | ipopt_status_ = ipopt_app_->Initialize(); | |
| 21 | |||
| 22 | ✗ | if (ipopt_status_ != Ipopt::Solve_Succeeded) { | |
| 23 | ✗ | std::cerr << "Error during IPOPT initialization!" << std::endl; | |
| 24 | } | ||
| 25 | ✗ | } | |
| 26 | |||
| 27 | ✗ | 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 | ✗ | setCandidate(init_xs, init_us, is_feasible); | |
| 32 | ✗ | ipopt_iface_->set_xs(xs_); | |
| 33 | ✗ | ipopt_iface_->set_us(us_); | |
| 34 | |||
| 35 | ✗ | ipopt_app_->Options()->SetIntegerValue("max_iter", | |
| 36 | static_cast<Ipopt::Index>(maxiter)); | ||
| 37 | ✗ | ipopt_status_ = ipopt_app_->OptimizeTNLP(ipopt_iface_); | |
| 38 | |||
| 39 | ✗ | std::copy(ipopt_iface_->get_xs().begin(), ipopt_iface_->get_xs().end(), | |
| 40 | xs_.begin()); | ||
| 41 | ✗ | std::copy(ipopt_iface_->get_us().begin(), ipopt_iface_->get_us().end(), | |
| 42 | us_.begin()); | ||
| 43 | ✗ | cost_ = ipopt_iface_->get_cost(); | |
| 44 | ✗ | iter_ = ipopt_app_->Statistics()->IterationCount(); | |
| 45 | |||
| 46 | ✗ | return ipopt_status_ == Ipopt::Solve_Succeeded || | |
| 47 | ✗ | ipopt_status_ == Ipopt::Solved_To_Acceptable_Level; | |
| 48 | } | ||
| 49 | |||
| 50 | ✗ | void SolverIpopt::resizeData() { | |
| 51 | ✗ | SolverAbstract::resizeData(); | |
| 52 | ✗ | ipopt_iface_->resizeData(); | |
| 53 | ✗ | } | |
| 54 | |||
| 55 | ✗ | 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 |