| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/core/solvers/ipopt.cpp |
| Date: | 2025-01-16 08:47:40 |
| Exec | Total | Coverage | |
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| Lines: | 17 | 17 | 100.0% |
| Branches: | 13 | 26 | 50.0% |
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| 1 | #ifdef CROCODDYL_WITH_IPOPT | ||
| 2 | |||
| 3 | #include "crocoddyl/core/solvers/ipopt.hpp" | ||
| 4 | |||
| 5 | #include "python/crocoddyl/core/core.hpp" | ||
| 6 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 7 | |||
| 8 | namespace crocoddyl { | ||
| 9 | namespace python { | ||
| 10 | |||
| 11 | 20 | BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(SolverIpopt_solves, SolverIpopt::solve, | |
| 12 | 0, 5) | ||
| 13 | |||
| 14 | 10 | void exposeSolverIpopt() { | |
| 15 | 10 | bp::register_ptr_to_python<boost::shared_ptr<SolverIpopt>>(); | |
| 16 |
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10 | bp::class_<SolverIpopt, bp::bases<SolverAbstract>>( |
| 17 | "SolverIpopt", | ||
| 18 |
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10 | bp::init<const boost::shared_ptr<crocoddyl::ShootingProblem>&>( |
| 19 | 20 | bp::args("self", "problem"), "Initialize solver")) | |
| 20 |
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10 | .def("solve", &SolverIpopt::solve, |
| 21 |
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10 | SolverIpopt_solves( |
| 22 |
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20 | bp::args("self", "init_xs", "init_us", "maxiter", "is_feasible", |
| 23 | "init_reg"), | ||
| 24 | "Compute the optimal trajectory xopt, uopt as lists of T+1 and " | ||
| 25 | "T terms.\n\n" | ||
| 26 | "From an initial guess init_xs,init_us (feasible or not), " | ||
| 27 | "iterate\n" | ||
| 28 | "over computeDirection and tryStep until stoppingCriteria is " | ||
| 29 | "below\n" | ||
| 30 | "threshold. It also describes the globalization strategy used\n" | ||
| 31 | "during the numerical optimization.\n" | ||
| 32 | ":param init_xs: initial guess for state trajectory with T+1 " | ||
| 33 | "elements (default []).\n" | ||
| 34 | ":param init_us: initial guess for control trajectory with T " | ||
| 35 | "elements (default []) (default []).\n" | ||
| 36 | ":param maxiter: maximum allowed number of iterations (default " | ||
| 37 | "100).\n" | ||
| 38 | ":param is_feasible: true if the init_xs are obtained from " | ||
| 39 | "integrating the init_us (rollout) (default " | ||
| 40 | "False).\n" | ||
| 41 | ":param init_reg: initial guess for the regularization value. " | ||
| 42 | "Very low values are typical\n" | ||
| 43 | " used with very good guess points (init_xs, " | ||
| 44 | "init_us) (default None).\n" | ||
| 45 | ":returns the optimal trajectory xopt, uopt and a boolean that " | ||
| 46 | "describes if convergence was reached.")) | ||
| 47 |
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10 | .def("setStringIpoptOption", &SolverIpopt::setStringIpoptOption, |
| 48 |
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20 | bp::args("self", "param_name", "param_value"), |
| 49 | "Sets a string option for IPOPT\n\n") | ||
| 50 |
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10 | .def("setNumericIpoptOption", &SolverIpopt::setNumericIpoptOption, |
| 51 |
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20 | bp::args("self", "param_name", "param_value"), |
| 52 | "Sets a numeric option for IPOPT\n\n") | ||
| 53 |
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10 | .add_property("th_stop", bp::make_function(&SolverIpopt::get_th_stop), |
| 54 |
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20 | bp::make_function(&SolverIpopt::set_th_stop), |
| 55 | "threshold for stopping criteria") | ||
| 56 |
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10 | .def(CopyableVisitor<SolverIpopt>()); |
| 57 | 10 | } | |
| 58 | |||
| 59 | } // namespace python | ||
| 60 | } // namespace crocoddyl | ||
| 61 | |||
| 62 | #endif | ||
| 63 |