ClpSolver Class Reference

Detailed Description

A wrapper to call CLP using Drake's MathematicalProgram.

Note

Currently our ClpSolver has a memory issue when solving a QP. The user should be aware of this risk.

The authors can adjust the problem scaling option by setting "scaling" as mentioned in https://github.com/coin-or/Clp/blob/43129ba1a7fd66ce70fe0761fcd696951917ed2e/src/ClpModel.hpp#L705-L706 For example prog.SetSolverOption(ClpSolver::id(), "scaling", 0); will do "no scaling". The default is 1.

#include <drake/solvers/clp_solver.h>

Public Types
using	Details = ClpSolverDetails

Public Member Functions
	ClpSolver ()
	~ClpSolver () final
MathematicalProgramResult	Solve (const MathematicalProgram &prog, const std::optional< Eigen::VectorXd > &initial_guess=std::nullopt, const std::optional< SolverOptions > &solver_options=std::nullopt) const
	Like SolverInterface::Solve(), but the result is a return value instead of an output argument. More...
void	Solve (const MathematicalProgram &, const std::optional< Eigen::VectorXd > &, const std::optional< SolverOptions > &, MathematicalProgramResult *) const override
Does not allow copy, move, or assignment
	ClpSolver (const ClpSolver &)=delete
ClpSolver &	operator= (const ClpSolver &)=delete
	ClpSolver (ClpSolver &&)=delete
ClpSolver &	operator= (ClpSolver &&)=delete
Public Member Functions inherited from SolverBase
	~SolverBase () override
MathematicalProgramResult	Solve (const MathematicalProgram &prog, const std::optional< Eigen::VectorXd > &initial_guess=std::nullopt, const std::optional< SolverOptions > &solver_options=std::nullopt) const
	Like SolverInterface::Solve(), but the result is a return value instead of an output argument. More...
void	Solve (const MathematicalProgram &, const std::optional< Eigen::VectorXd > &, const std::optional< SolverOptions > &, MathematicalProgramResult *) const override
	Solves an optimization program with optional initial guess and solver options. More...
bool	available () const override
	Returns true iff support for this solver has been compiled into Drake. More...
bool	enabled () const override
	Returns true iff this solver is properly configured for use at runtime. More...
SolverId	solver_id () const final
	Returns the identifier of this solver. More...
bool	AreProgramAttributesSatisfied (const MathematicalProgram &) const override
	Returns true iff the program's attributes are compatible with this solver's capabilities. More...
std::string	ExplainUnsatisfiedProgramAttributes (const MathematicalProgram &) const override
	Describes the reasons (if any) why the program is incompatible with this solver's capabilities. More...
	SolverBase (const SolverBase &)=delete
SolverBase &	operator= (const SolverBase &)=delete
	SolverBase (SolverBase &&)=delete
SolverBase &	operator= (SolverBase &&)=delete
Public Member Functions inherited from SolverInterface
virtual	~SolverInterface ()
	SolverInterface (const SolverInterface &)=delete
SolverInterface &	operator= (const SolverInterface &)=delete
	SolverInterface (SolverInterface &&)=delete
SolverInterface &	operator= (SolverInterface &&)=delete

Static Public Member Functions
Static versions of the instance methods with similar names.
static SolverId	id ()
static bool	is_available ()
static bool	is_enabled ()
static bool	ProgramAttributesSatisfied (const MathematicalProgram &)
static std::string	UnsatisfiedProgramAttributes (const MathematicalProgram &)

Additional Inherited Members
Protected Member Functions inherited from SolverBase
	SolverBase (const SolverId &id, std::function< bool()> available, std::function< bool()> enabled, std::function< bool(const MathematicalProgram &)> are_satisfied, std::function< std::string(const MathematicalProgram &)> explain_unsatisfied=nullptr)
	Constructs a SolverBase with the given default implementations of the solver_id(), available(), enabled(), AreProgramAttributesSatisfied(), and ExplainUnsatisfiedProgramAttributes() methods. More...
virtual void	DoSolve (const MathematicalProgram &prog, const Eigen::VectorXd &initial_guess, const SolverOptions &merged_options, MathematicalProgramResult *result) const
	Hook for subclasses to implement Solve. More...
Protected Member Functions inherited from SolverInterface
	SolverInterface ()

Member Typedef Documentation

Details

using Details = ClpSolverDetails

Constructor & Destructor Documentation

ClpSolver() [1/3]

ClpSolver ( const ClpSolver &  )

delete

ClpSolver() [2/3]

ClpSolver ( ClpSolver &&  )

delete

ClpSolver() [3/3]

ClpSolver

(

)

~ClpSolver()

~ClpSolver ( )

final

Member Function Documentation

id()

static SolverId id ( )

static

is_available()

static bool is_available ( )

static

is_enabled()

static bool is_enabled ( )

static

operator=() [1/2]

ClpSolver& operator= ( ClpSolver &&  )

delete

operator=() [2/2]

ClpSolver& operator= ( const ClpSolver &  )

delete

ProgramAttributesSatisfied()

static bool ProgramAttributesSatisfied ( const MathematicalProgram &  )

static

Solve() [1/2]

MathematicalProgramResult Solve

Like SolverInterface::Solve(), but the result is a return value instead of an output argument.

Solve() [2/2]

void Solve

override

UnsatisfiedProgramAttributes()

static std::string UnsatisfiedProgramAttributes ( const MathematicalProgram &  )

static

---

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

• drake/solvers/clp_solver.h