smooth::feedback::IpoptNLP< Problem > Class Template Reference

Ipopt interface to solve NLPs. More...

#include <ipopt.hpp>

Inheritance diagram for smooth::feedback::IpoptNLP< Problem >:

Public Member Functions
	IpoptNLP (Problem &&nlp, bool use_hessian=false)
	Ipopt wrapper for NLP (rvlaue version). More...
	IpoptNLP (const Problem &nlp, bool use_hessian=false)
	Ipopt wrapper for NLP (lvalue version). More...
NLPSolution &	sol ()
	Access solution. More...
bool	get_nlp_info (Ipopt::Index &n, Ipopt::Index &m, Ipopt::Index &nnz_jac_g, Ipopt::Index &nnz_h_lag, IndexStyleEnum &index_style) override
	IPOPT info overload. More...
bool	get_bounds_info (Ipopt::Index n, Ipopt::Number *x_l, Ipopt::Number *x_u, Ipopt::Index m, Ipopt::Number *g_l, Ipopt::Number *g_u) override
	IPOPT bounds overload. More...
bool	get_starting_point (Ipopt::Index n, bool init_x, Ipopt::Number *x, bool init_z, Ipopt::Number *z_L, Ipopt::Number *z_U, Ipopt::Index m, bool init_lambda, Ipopt::Number *lambda) override
	IPOPT initial guess overload. More...
bool	eval_f (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Number &obj_value) override
	IPOPT method to define objective. More...
bool	eval_grad_f (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Number *grad_f) override
	IPOPT method to define gradient of objective. More...
bool	eval_g (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Index m, Ipopt::Number *g) override
	IPOPT method to define constraint function. More...
bool	eval_jac_g (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Index m, Ipopt::Index nele_jac, Ipopt::Index *iRow, Ipopt::Index *jCol, Ipopt::Number *values) override
	IPOPT method to define jacobian of constraint function. More...
bool	eval_h (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Number sigma, Ipopt::Index m, const Ipopt::Number *lambda, bool new_lambda, Ipopt::Index nele_hess, Ipopt::Index *iRow, Ipopt::Index *jCol, Ipopt::Number *values) override
	IPOPT method to define problem Hessian. More...
void	finalize_solution (Ipopt::SolverReturn status, Ipopt::Index n, const Ipopt::Number *x, const Ipopt::Number *z_L, const Ipopt::Number *z_U, Ipopt::Index m, const Ipopt::Number *g, const Ipopt::Number *lambda, Ipopt::Number obj_value, const Ipopt::IpoptData *ip_data, Ipopt::IpoptCalculatedQuantities *ip_cq) override
	IPOPT method called after optimization done. More...

Detailed Description

template<NLP Problem>
class smooth::feedback::IpoptNLP< Problem >

Ipopt interface to solve NLPs.

See also

NLP

Definition at line 26 of file ipopt.hpp.

Constructor & Destructor Documentation

IpoptNLP() [1/2]

template<NLP Problem>

smooth::feedback::IpoptNLP< Problem >::IpoptNLP ( Problem &&  nlp, bool  use_hessian = false  )

inline

Ipopt wrapper for NLP (rvlaue version).

Definition at line 32 of file ipopt.hpp.

IpoptNLP() [2/2]

template<NLP Problem>

smooth::feedback::IpoptNLP< Problem >::IpoptNLP ( const Problem &  nlp, bool  use_hessian = false  )

inline

Ipopt wrapper for NLP (lvalue version).

Definition at line 37 of file ipopt.hpp.

Member Function Documentation

eval_f()

template<NLP Problem>

bool smooth::feedback::IpoptNLP< Problem >::eval_f ( Ipopt::Index  n, const Ipopt::Number *  x, bool  new_x, Ipopt::Number &  obj_value  )

inlineoverride

IPOPT method to define objective.

Definition at line 122 of file ipopt.hpp.

eval_g()

template<NLP Problem>

bool smooth::feedback::IpoptNLP< Problem >::eval_g ( Ipopt::Index  n, const Ipopt::Number *  x, bool  new_x, Ipopt::Index  m, Ipopt::Number *  g  )

inlineoverride

IPOPT method to define constraint function.

Definition at line 142 of file ipopt.hpp.

eval_grad_f()

template<NLP Problem>

bool smooth::feedback::IpoptNLP< Problem >::eval_grad_f ( Ipopt::Index  n, const Ipopt::Number *  x, bool  new_x, Ipopt::Number *  grad_f  )

inlineoverride

IPOPT method to define gradient of objective.

Definition at line 132 of file ipopt.hpp.

eval_h()

template<NLP Problem>

bool smooth::feedback::IpoptNLP< Problem >::eval_h ( Ipopt::Index  n, const Ipopt::Number *  x, bool  new_x, Ipopt::Number  sigma, Ipopt::Index  m, const Ipopt::Number *  lambda, bool  new_lambda, Ipopt::Index  nele_hess, Ipopt::Index *  iRow, Ipopt::Index *  jCol, Ipopt::Number *  values  )

inlineoverride

IPOPT method to define problem Hessian.

Definition at line 186 of file ipopt.hpp.

eval_jac_g()

template<NLP Problem>

bool smooth::feedback::IpoptNLP< Problem >::eval_jac_g ( Ipopt::Index  n, const Ipopt::Number *  x, bool  new_x, Ipopt::Index  m, Ipopt::Index  nele_jac, Ipopt::Index *  iRow, Ipopt::Index *  jCol, Ipopt::Number *  values  )

inlineoverride

IPOPT method to define jacobian of constraint function.

Definition at line 152 of file ipopt.hpp.

finalize_solution()

template<NLP Problem>

void smooth::feedback::IpoptNLP< Problem >::finalize_solution ( Ipopt::SolverReturn  status, Ipopt::Index  n, const Ipopt::Number *  x, const Ipopt::Number *  z_L, const Ipopt::Number *  z_U, Ipopt::Index  m, const Ipopt::Number *  g, const Ipopt::Number *  lambda, Ipopt::Number  obj_value, const Ipopt::IpoptData *  ip_data, Ipopt::IpoptCalculatedQuantities *  ip_cq  )

inlineoverride

IPOPT method called after optimization done.

Definition at line 233 of file ipopt.hpp.

get_bounds_info()

template<NLP Problem>

bool smooth::feedback::IpoptNLP< Problem >::get_bounds_info ( Ipopt::Index  n, Ipopt::Number *  x_l, Ipopt::Number *  x_u, Ipopt::Index  m, Ipopt::Number *  g_l, Ipopt::Number *  g_u  )

inlineoverride

IPOPT bounds overload.

Definition at line 80 of file ipopt.hpp.

get_nlp_info()

template<NLP Problem>

bool smooth::feedback::IpoptNLP< Problem >::get_nlp_info ( Ipopt::Index &  n, Ipopt::Index &  m, Ipopt::Index &  nnz_jac_g, Ipopt::Index &  nnz_h_lag, IndexStyleEnum &  index_style  )

inlineoverride

IPOPT info overload.

Definition at line 47 of file ipopt.hpp.

get_starting_point()

template<NLP Problem>

bool smooth::feedback::IpoptNLP< Problem >::get_starting_point ( Ipopt::Index  n, bool  init_x, Ipopt::Number *  x, bool  init_z, Ipopt::Number *  z_L, Ipopt::Number *  z_U, Ipopt::Index  m, bool  init_lambda, Ipopt::Number *  lambda  )

inlineoverride

IPOPT initial guess overload.

Definition at line 95 of file ipopt.hpp.

sol()

template<NLP Problem>

NLPSolution & smooth::feedback::IpoptNLP< Problem >::sol ( )

inline

Access solution.

Definition at line 42 of file ipopt.hpp.

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The documentation for this class was generated from the following file:

• include/smooth/feedback/compat/ipopt.hpp