Drake
SnoptSolver Class Referencefinal

Detailed Description

An implementation of SolverInterface for the commercially-licensed SNOPT solver (https://ccom.ucsd.edu/~optimizers/solvers/snopt/).

Builds of Drake from source do not compile SNOPT by default, so therefore SolverInterface::available() will return false. You must opt-in to build SNOPT per the documentation at https://drake.mit.edu/bazel.html#snopt.

Drake's pre-compiled binary releases do incorporate SNOPT, so therefore SolverInterface::available() will return true. Thanks to Philip E. Gill and Elizabeth Wong for their kind support.

There is no license configuration required to use SNOPT, so SolverInterface::enabled() will always return true.

#include <drake/solvers/snopt_solver.h>

Public Types

using Details = SnoptSolverDetails
 Type of details stored in MathematicalProgramResult. More...
 

Public Member Functions

 SnoptSolver ()
 
 ~SnoptSolver () 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
 SnoptSolver (const SnoptSolver &)=delete
 
SnoptSolveroperator= (const SnoptSolver &)=delete
 
 SnoptSolver (SnoptSolver &&)=delete
 
SnoptSolveroperator= (SnoptSolver &&)=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 override
 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
 
SolverBaseoperator= (const SolverBase &)=delete
 
 SolverBase (SolverBase &&)=delete
 
SolverBaseoperator= (SolverBase &&)=delete
 
- Public Member Functions inherited from SolverInterface
virtual ~SolverInterface ()
 
 SolverInterface (const SolverInterface &)=delete
 
SolverInterfaceoperator= (const SolverInterface &)=delete
 
 SolverInterface (SolverInterface &&)=delete
 
SolverInterfaceoperator= (SolverInterface &&)=delete
 

Static Public Member Functions

static bool is_bounded_lp_broken ()
 For some reason, SNOPT 7.4 fails to detect a simple LP being unbounded. More...
 
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 (std::function< 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...
 
- Protected Member Functions inherited from SolverInterface
 SolverInterface ()
 

Member Typedef Documentation

◆ Details

Type of details stored in MathematicalProgramResult.

Constructor & Destructor Documentation

◆ SnoptSolver() [1/3]

SnoptSolver ( const SnoptSolver )
delete

◆ SnoptSolver() [2/3]

SnoptSolver ( SnoptSolver &&  )
delete

◆ SnoptSolver() [3/3]

◆ ~SnoptSolver()

~SnoptSolver ( )
final

Member Function Documentation

◆ id()

static SolverId id ( )
static

◆ is_available()

static bool is_available ( )
static

◆ is_bounded_lp_broken()

static bool is_bounded_lp_broken ( )
static

For some reason, SNOPT 7.4 fails to detect a simple LP being unbounded.

◆ is_enabled()

static bool is_enabled ( )
static

◆ operator=() [1/2]

SnoptSolver& operator= ( SnoptSolver &&  )
delete

◆ operator=() [2/2]

SnoptSolver& operator= ( const SnoptSolver )
delete

◆ ProgramAttributesSatisfied()

static bool ProgramAttributesSatisfied ( const MathematicalProgram )
static

◆ Solve() [1/2]

void Solve
override

◆ Solve() [2/2]

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


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