SolverInterface Class Reference

Detailed Description

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 this solver was enabled at compile-time. More...
virtual bool	enabled () const =0
	Returns true iff this solver is enabled 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 if the program attributes are satisfied by the solver's capability. 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 ()

Constructor & Destructor Documentation

SolverInterface() [1/3]

SolverInterface ( const SolverInterface &  )

delete

SolverInterface() [2/3]

SolverInterface ( SolverInterface &&  )

delete

~SolverInterface()

virtual ~SolverInterface ( )

virtual

SolverInterface() [3/3]

SolverInterface ( )

protected

Member Function Documentation

AreProgramAttributesSatisfied()

virtual bool AreProgramAttributesSatisfied ( const MathematicalProgram &  prog ) const

pure virtual

Returns true if the program attributes are satisfied by the solver's capability.

Implemented in SolverBase.

available()

virtual bool available ( ) const

pure virtual

Returns true iff this solver was enabled at compile-time.

Certain solvers may be excluded at compile-time due to licensing or linking restrictions. When this method returns false, the Solve method will throw.

Implemented in SolverBase.

enabled()

virtual bool enabled ( ) const

pure virtual

Returns true iff this solver is enabled at runtime.

The toggle mechanism is specific to the solver in question, but typically uses an environment variable. When this method returns false, the Solve method will throw.

Implemented in SolverBase.

operator=() [1/2]

SolverInterface& operator= ( SolverInterface &&  )

delete

operator=() [2/2]

SolverInterface& operator= ( const SolverInterface &  )

delete

Solve()

virtual void Solve ( const MathematicalProgram &  prog, const std::optional< Eigen::VectorXd > &  initial_guess, const std::optional< SolverOptions > &  solver_options, MathematicalProgramResult *  result  ) const

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.

Implemented in SolverBase.

solver_id()

virtual SolverId solver_id ( ) const

pure virtual

Returns the identifier of this solver.

Implemented in SolverBase.

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

• drake/solvers/solver_interface.h