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Drake
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Drake
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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, but you may set the environtment variable DRAKE_SNOPT_SOLVER_ENABLED to "0" to force-disable SNOPT, in which case SolverInterface::enabled() will return false.
#include <drake/solvers/snopt_solver.h>
Public Types | |
| using | Details = SnoptSolverDetails |
| Type of details stored in MathematicalProgramResult. | |
Public Member Functions | |
| SnoptSolver () | |
| ~SnoptSolver () final | |
Does not allow copy, move, or assignment | |
| SnoptSolver (const SnoptSolver &)=delete | |
| SnoptSolver & | operator= (const SnoptSolver &)=delete |
| SnoptSolver (SnoptSolver &&)=delete | |
| SnoptSolver & | operator= (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. | |
| 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 Public Member Functions | |
| static bool | is_bounded_lp_broken () |
| For some reason, SNOPT 7.4 fails to detect a simple LP being unbounded. | |
Static versions of the instance methods with similar names. | |
| 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 () |
| Returns true iff the environment variable DRAKE_SNOPT_SOLVER_ENABLED is unset or set to anything other than "0". | |
| 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 () | |
| using Details = SnoptSolverDetails |
Type of details stored in MathematicalProgramResult.
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| SnoptSolver | ( | ) |
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For some reason, SNOPT 7.4 fails to detect a simple LP being unbounded.
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Returns true iff the environment variable DRAKE_SNOPT_SOLVER_ENABLED is unset or set to anything other than "0".
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delete |
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delete |
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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.
| 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.