IpoptSolver Class Reference

Detailed Description

A wrapper to call Ipopt using Drake's MathematicalProgram.

The IpoptSolver is NOT threadsafe to call in parallel. This is due to Ipopt's reliance on the MUMPs linear solver which is not safe to call concurrently (see https://github.com/coin-or/Ipopt/issues/733). This can be resolved by enabling the SPRAL solver (see Drake issue https://github.com/RobotLocomotion/drake/issues/21476).

#include <drake/solvers/ipopt_solver.h>

Public Types
using	Details = IpoptSolverDetails
	Type of details stored in MathematicalProgramResult. More...

Public Member Functions
	IpoptSolver ()
	~IpoptSolver () 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
	IpoptSolver (const IpoptSolver &)=delete
IpoptSolver &	operator= (const IpoptSolver &)=delete
	IpoptSolver (IpoptSolver &&)=delete
IpoptSolver &	operator= (IpoptSolver &&)=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 &)

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 = IpoptSolverDetails

Type of details stored in MathematicalProgramResult.

Constructor & Destructor Documentation

IpoptSolver() [1/3]

IpoptSolver ( const IpoptSolver &  )

delete

IpoptSolver() [2/3]

IpoptSolver ( IpoptSolver &&  )

delete

IpoptSolver() [3/3]

IpoptSolver

(

)

~IpoptSolver()

~IpoptSolver ( )

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]

IpoptSolver& operator= ( IpoptSolver &&  )

delete

operator=() [2/2]

IpoptSolver& operator= ( const IpoptSolver &  )

delete

ProgramAttributesSatisfied()

static bool ProgramAttributesSatisfied ( const MathematicalProgram &  )

static

Solve() [1/2]

void Solve

override

Solve() [2/2]

MathematicalProgramResult Solve

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/ipopt_solver.h