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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2022-2023, IRI: CSIC-UPC, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#include "crocoddyl/core/solvers/ipopt.hpp" |
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namespace crocoddyl { |
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SolverIpopt::SolverIpopt(std::shared_ptr<crocoddyl::ShootingProblem> problem) |
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: SolverAbstract(problem), |
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ipopt_iface_(new IpoptInterface(problem)), |
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ipopt_app_(IpoptApplicationFactory()) { |
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ipopt_app_->Options()->SetNumericValue("tol", th_stop_); |
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ipopt_app_->Options()->SetStringValue("mu_strategy", "adaptive"); |
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ipopt_status_ = ipopt_app_->Initialize(); |
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if (ipopt_status_ != Ipopt::Solve_Succeeded) { |
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std::cerr << "Error during IPOPT initialization!" << std::endl; |
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} |
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} |
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bool SolverIpopt::solve(const std::vector<Eigen::VectorXd>& init_xs, |
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const std::vector<Eigen::VectorXd>& init_us, |
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const std::size_t maxiter, const bool is_feasible, |
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const double /*reg_init*/) { |
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setCandidate(init_xs, init_us, is_feasible); |
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ipopt_iface_->set_xs(xs_); |
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ipopt_iface_->set_us(us_); |
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ipopt_app_->Options()->SetIntegerValue("max_iter", |
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static_cast<Ipopt::Index>(maxiter)); |
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ipopt_status_ = ipopt_app_->OptimizeTNLP(ipopt_iface_); |
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std::copy(ipopt_iface_->get_xs().begin(), ipopt_iface_->get_xs().end(), |
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xs_.begin()); |
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std::copy(ipopt_iface_->get_us().begin(), ipopt_iface_->get_us().end(), |
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us_.begin()); |
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cost_ = ipopt_iface_->get_cost(); |
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iter_ = ipopt_app_->Statistics()->IterationCount(); |
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return ipopt_status_ == Ipopt::Solve_Succeeded || |
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ipopt_status_ == Ipopt::Solved_To_Acceptable_Level; |
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} |
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void SolverIpopt::resizeData() { |
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SolverAbstract::resizeData(); |
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ipopt_iface_->resizeData(); |
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} |
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SolverIpopt::~SolverIpopt() {} |
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void SolverIpopt::computeDirection(const bool) {} |
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double SolverIpopt::tryStep(const double) { return 0.; } |
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double SolverIpopt::stoppingCriteria() { return 0.; } |
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const Eigen::Vector2d& SolverIpopt::expectedImprovement() { return d_; } |
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void SolverIpopt::setStringIpoptOption(const std::string& tag, |
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const std::string& value) { |
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ipopt_app_->Options()->SetStringValue(tag, value); |
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} |
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void SolverIpopt::setNumericIpoptOption(const std::string& tag, |
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Ipopt::Number value) { |
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ipopt_app_->Options()->SetNumericValue(tag, value); |
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} |
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void SolverIpopt::set_th_stop(const double th_stop) { |
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if (th_stop <= 0.) { |
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throw_pretty("Invalid argument: " << "th_stop value has to higher than 0."); |
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} |
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th_stop_ = th_stop; |
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ipopt_app_->Options()->SetNumericValue("tol", th_stop_); |
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} |
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} // namespace crocoddyl |
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