Interface used by implementations of individual solvers.
#include <drake/solvers/solver_interface.h>
Public Member Functions  
virtual  ~SolverInterface () 
virtual bool  available () const =0 
Returns true iff support for this solver has been compiled into Drake. More...  
virtual bool  enabled () const =0 
Returns true iff this solver is properly configured for use at runtime. More...  
virtual void  Solve (const MathematicalProgram &prog, const std::optional< Eigen::VectorXd > &initial_guess, const std::optional< SolverOptions > &solver_options, MathematicalProgramResult *result) const =0 
Solves an optimization program with optional initial guess and solver options. More...  
virtual SolverId  solver_id () const =0 
Returns the identifier of this solver. More...  
virtual bool  AreProgramAttributesSatisfied (const MathematicalProgram &prog) const =0 
Returns true iff the program's attributes are compatible with this solver's capabilities. More...  
virtual std::string  ExplainUnsatisfiedProgramAttributes (const MathematicalProgram &prog) const =0 
Describes the reasons (if any) why the program is incompatible with this solver's capabilities. More...  
Does not allow copy, move, or assignment  
SolverInterface (const SolverInterface &)=delete  
SolverInterface &  operator= (const SolverInterface &)=delete 
SolverInterface (SolverInterface &&)=delete  
SolverInterface &  operator= (SolverInterface &&)=delete 
Protected Member Functions  
SolverInterface ()  

delete 

delete 

virtual 

protected 

pure virtual 
Returns true iff the program's attributes are compatible with this solver's capabilities.
Implemented in SolverBase.

pure virtual 
Returns true iff support for this solver has been compiled into Drake.
When this method returns false, the Solve method will throw.
Most solver implementations will always return true, but certain solvers may have been excluded at compiletime due to licensing restrictions, or to narrow Drake's dependency footprint. In Drake's default build, only commerciallylicensed solvers might return false.
Contrast this with enabled(), which reflects whether a solver has been configured for use at runtime (not compiletime).
For details on linking commercial solvers, refer to the solvers' class overview documentation, e.g., SnoptSolver, MosekSolver, GurobiSolver.
Implemented in SolverBase.

pure virtual 
Returns true iff this solver is properly configured for use at runtime.
When this method returns false, the Solve method will throw.
Most solver implementation will always return true, but certain solvers require additional configuration before they may be used, e.g., setting an environment variable to specify a license file or license server. In Drake's default build, only commerciallylicensed solvers might return false.
Contrast this with available(), which reflects whether a solver has been incorporated into Drake at compiletime (and has nothing to do with the runtime configuration). A solver where available() returns false may still return true for enabled() if it is properly configured.
The mechanism to configure a particular solver implementation is specific to the solver in question, but typically uses an environment variable. For details on configuring commercial solvers, refer to the solvers' class overview documentation, e.g., SnoptSolver, MosekSolver, GurobiSolver.
Implemented in SolverBase.

pure virtual 
Describes the reasons (if any) why the program is incompatible with this solver's capabilities.
If AreProgramAttributesSatisfied would return true for the program, then this function returns the empty string.
Implemented in SolverBase.

delete 

delete 

pure virtual 
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 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.
Implemented in SolverBase.

pure virtual 
Returns the identifier of this solver.
Implemented in SolverBase.