#include <drake/solvers/nlopt_solver.h>
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| static std::string | ConstraintToleranceName () |
| | The key name for the double-valued constraint tolerance.
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| static std::string | XRelativeToleranceName () |
| | The key name for double-valued x relative tolerance.
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| static std::string | XAbsoluteToleranceName () |
| | The key name for double-valued x absolute tolerance.
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| static std::string | FRelativeToleranceName () |
| | The key name for the double-valued relative tolerance on the objective function value.
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| static std::string | FAbsoluteToleranceName () |
| | The key name for the double-valued absolute tolerance on the objective function value.
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| static std::string | MaxEvalName () |
| | The key name for int-valued maximum number of evaluations.
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| static std::string | MaxTimeName () |
| | The key name for the maximum runtime.
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| static std::string | StopValName () |
| | The key name for the double-valued target objective value.
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| static std::string | AlgorithmName () |
| | The key name for the string-valued algorithm.
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| static std::string | LocalOptimizerAlgorithmName () |
| | The key name for the string-valued algorithm of the local (inner) optimizer.
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| static std::string | LocalOptimizerXRelativeToleranceName () |
| | The key name for the double-valued x relative tolerance of the local (inner) optimizer.
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| static std::string | LocalOptimizerXAbsoluteToleranceName () |
| | The key name for the double-valued x absolute tolerance of the local (inner) optimizer.
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| static std::string | LocalOptimizerFRelativeToleranceName () |
| | The key name for the double-valued relative tolerance on the objective function value of the local (inner) optimizer.
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| static std::string | LocalOptimizerFAbsoluteToleranceName () |
| | The key name for the double-valued absolute tolerance on the objective function value of the local (inner) optimizer.
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| static std::string | LocalOptimizerMaxEvalName () |
| | The key name for the int-valued maximum number of evaluations of the local (inner) optimizer.
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| static std::string | LocalOptimizerMaxTimeName () |
| | The key name for the maximum runtime of the local (inner) optimizer.
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| | 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.
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| virtual void | DoSolve (const MathematicalProgram &prog, const Eigen::VectorXd &initial_guess, const SolverOptions &merged_options, MathematicalProgramResult *result) const |
| | Hook for subclasses to implement Solve.
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| | SolverInterface () |
◆ Details
◆ NloptSolver() [1/3]
| NloptSolver |
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const NloptSolver & | | ) |
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delete |
◆ NloptSolver() [2/3]
| NloptSolver |
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NloptSolver && | | ) |
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delete |
◆ NloptSolver() [3/3]
◆ ~NloptSolver()
◆ AlgorithmName()
| std::string AlgorithmName |
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The key name for the string-valued algorithm.
◆ ConstraintToleranceName()
| std::string ConstraintToleranceName |
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The key name for the double-valued constraint tolerance.
◆ FAbsoluteToleranceName()
| std::string FAbsoluteToleranceName |
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The key name for the double-valued absolute tolerance on the objective function value.
The default value is 0, which disables this stopping criterion.
◆ FRelativeToleranceName()
| std::string FRelativeToleranceName |
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The key name for the double-valued relative tolerance on the objective function value.
The default value is 0, which disables this stopping criterion.
◆ id()
◆ is_available()
◆ is_enabled()
◆ LocalOptimizerAlgorithmName()
| std::string LocalOptimizerAlgorithmName |
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The key name for the string-valued algorithm of the local (inner) optimizer.
Some NLopt algorithms – notably the augmented Lagrangian family (e.g. LD_AUGLAG_EQ) and the multi-level single-linkage family – work by handing a sequence of subproblems to a separate "local" optimizer; this option chooses that optimizer's algorithm. The default value is the empty string, which leaves NLopt's own default in place. Algorithms that do not use a local optimizer ignore this option, as do the other LocalOptimizer... options below whenever this one is empty.
◆ LocalOptimizerFAbsoluteToleranceName()
| std::string LocalOptimizerFAbsoluteToleranceName |
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The key name for the double-valued absolute tolerance on the objective function value of the local (inner) optimizer.
The default value is 0, which disables this stopping criterion.
◆ LocalOptimizerFRelativeToleranceName()
| std::string LocalOptimizerFRelativeToleranceName |
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The key name for the double-valued relative tolerance on the objective function value of the local (inner) optimizer.
The default value is 0, which disables this stopping criterion.
◆ LocalOptimizerMaxEvalName()
| std::string LocalOptimizerMaxEvalName |
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The key name for the int-valued maximum number of evaluations of the local (inner) optimizer.
By default there is no maximum; a nonpositive value means no maximum. Setting a positive value truncates each subproblem solve, which lets the outer algorithm make progress more often instead of solving the first subproblem to convergence.
◆ LocalOptimizerMaxTimeName()
| std::string LocalOptimizerMaxTimeName |
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The key name for the maximum runtime of the local (inner) optimizer.
By default there is no maximum runtime. A nonpositive value will be interpreted as no maximum runtime.
◆ LocalOptimizerXAbsoluteToleranceName()
| std::string LocalOptimizerXAbsoluteToleranceName |
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The key name for the double-valued x absolute tolerance of the local (inner) optimizer.
◆ LocalOptimizerXRelativeToleranceName()
| std::string LocalOptimizerXRelativeToleranceName |
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The key name for the double-valued x relative tolerance of the local (inner) optimizer.
◆ MaxEvalName()
| std::string MaxEvalName |
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The key name for int-valued maximum number of evaluations.
◆ MaxTimeName()
| std::string MaxTimeName |
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The key name for the maximum runtime.
By default, there is no maximum runtime. A nonpositive value will be interpreted as no maximum runtime.
◆ operator=() [1/2]
◆ operator=() [2/2]
◆ ProgramAttributesSatisfied()
◆ Solve() [1/2]
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]
◆ StopValName()
| std::string StopValName |
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The key name for the double-valued target objective value.
Because Drake always minimizes, the solve stops as soon as it finds a point whose cost is less than or equal to this value; it is a "good enough, stop
here" target, not a bound that the solver enforces. The default value is negative infinity, so that the criterion never triggers. There is no local (inner) optimizer counterpart, because the algorithms that use a local optimizer derive its target from this option.
◆ XAbsoluteToleranceName()
| std::string XAbsoluteToleranceName |
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The key name for double-valued x absolute tolerance.
◆ XRelativeToleranceName()
| std::string XRelativeToleranceName |
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The key name for double-valued x relative tolerance.
The documentation for this class was generated from the following file:
