CsdpSolver Class Reference

Detailed Description

Wrap CSDP solver such that it can solve a drake::solvers::MathematicalProgram.

Note

CSDP doesn't accept free variables, while drake::solvers::MathematicalProgram does. In order to convert MathematicalProgram into CSDP format, we provide several approaches to remove free variables. You can set the approach through

SolverOptions solver_options;
solver_options.SetOption(CsdpSolver::id(),
   "drake::RemoveFreeVariableMethod",
   static_cast<int>(RemoveFreeVariableMethod::kNullspace));
CsdpSolver solver;
auto result = solver.Solve(prog, std::nullopt, solver_options);

For more details, check out RemoveFreeVariableMethod.

#include <drake/solvers/csdp_solver.h>

Public Member Functions
	CsdpSolver ()
	Default constructor.
	~CsdpSolver () final
Does not allow copy, move, or assignment
	CsdpSolver (const CsdpSolver &)=delete
CsdpSolver &	operator= (const CsdpSolver &)=delete
	CsdpSolver (CsdpSolver &&)=delete
CsdpSolver &	operator= (CsdpSolver &&)=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.
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.
bool	available () const override
	Returns true iff support for this solver has been compiled into Drake.
bool	enabled () const override
	Returns true iff this solver is properly configured for use at runtime.
SolverId	solver_id () const final
	Returns the identifier of this solver.
bool	AreProgramAttributesSatisfied (const MathematicalProgram &) const override
	Returns true iff the program's attributes are compatible with this solver's capabilities.
std::string	ExplainUnsatisfiedProgramAttributes (const MathematicalProgram &) const override
	Describes the reasons (if any) why the program is incompatible with this solver's capabilities.
	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 versions of the instance methods with similar names.
using	Details = CsdpSolverDetails
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.
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.
static SolverId	id ()
static bool	is_available ()
static bool	is_enabled ()
static bool	ProgramAttributesSatisfied (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.
virtual void	DoSolve (const MathematicalProgram &prog, const Eigen::VectorXd &initial_guess, const SolverOptions &merged_options, MathematicalProgramResult *result) const
	Hook for subclasses to implement Solve.
Protected Member Functions inherited from SolverInterface
	SolverInterface ()

Member Typedef Documentation

Details

using Details = CsdpSolverDetails

Constructor & Destructor Documentation

CsdpSolver() [1/3]

CsdpSolver ( const CsdpSolver & )

delete

CsdpSolver() [2/3]

CsdpSolver ( CsdpSolver && )

delete

CsdpSolver() [3/3]

CsdpSolver

(

)

Default constructor.

~CsdpSolver()

~CsdpSolver ( )

final

Member Function Documentation

id()

SolverId id ( )

static

is_available()

bool is_available ( )

static

is_enabled()

bool is_enabled ( )

static

operator=() [1/2]

CsdpSolver & operator= ( const CsdpSolver & )

delete

operator=() [2/2]

CsdpSolver & operator= ( CsdpSolver && )

delete

ProgramAttributesSatisfied()

bool ProgramAttributesSatisfied ( const MathematicalProgram & )

static

Solve() [1/2]

void Solve ( const MathematicalProgram & prog, const std::optional< Eigen::VectorXd > & initial_guess, const std::optional< SolverOptions > & solver_options, MathematicalProgramResult * result ) const

overridevirtual

Solves an optimization program with optional initial guess and solver options.

Note that these initial guess and solver options are not written to prog. If the prog has set an initial guess, and initial_guess is set, then initial_guess takes priority. If the prog has set an option for a solver, and solver_options contains a different value for the same option on the same solver, then solver_options takes priority. Derived implementations of this interface may elect to throw std::exception for badly formed programs.

Implements SolverInterface.

Solve() [2/2]

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.

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

• drake/solvers/csdp_solver.h