SnoptSolver Class Reference

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, 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. 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
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. 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 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 ()
	Returns true iff the environment variable DRAKE_SNOPT_SOLVER_ENABLED is unset or set to anything other than "0". More...
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 = SnoptSolverDetails

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()

~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

Returns true iff the environment variable DRAKE_SNOPT_SOLVER_ENABLED is unset or set to anything other than "0".

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]

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/snopt_solver.h