SolverOptions Class Reference

Detailed Description

Stores options for multiple solvers.

This interface does not do any verification of solver parameters. It does not even verify that the specified solver exists. Use this only when you have particular knowledge of what solver is being invoked, and exactly what tuning is required.

Supported solver names/options:

"SNOPT" – Parameter names and values as specified in SNOPT User's Guide section 7.7 "Description of the optional parameters", used as described in section 7.5 for snSet(). The SNOPT user guide can be obtained from https://web.stanford.edu/group/SOL/guides/sndoc7.pdf

"IPOPT" – Parameter names and values as specified in IPOPT users guide section "Options Reference" http://www.coin-or.org/Ipopt/documentation/node40.html

"GUROBI" – Parameter name and values as specified in Gurobi Reference Manual, section 10.2 "Parameter Descriptions" https://www.gurobi.com/documentation/8.0/refman/parameters.html

"SCS" – Parameter name and values as specified in the struct SCS_SETTINGS in SCS header file https://github.com/cvxgrp/scs/blob/master/include/scs.h Note that the SCS code on github master might be more up-to-date than the version used in Drake.

"MOSEK" – Parameter name and values as specified in Mosek Reference https://docs.mosek.com/8.0/capi/parameters.html

#include <drake/solvers/solver_options.h>

Public Member Functions
	SolverOptions ()=default
void	SetOption (const SolverId &solver_id, const std::string &solver_option, double option_value)
void	SetOption (const SolverId &solver_id, const std::string &solver_option, int option_value)
void	SetOption (const SolverId &solver_id, const std::string &solver_option, const std::string &option_value)
const std::unordered_map< std::string, double > &	GetOptionsDouble (const SolverId &solver_id) const
const std::unordered_map< std::string, int > &	GetOptionsInt (const SolverId &solver_id) const
const std::unordered_map< std::string, std::string > &	GetOptionsStr (const SolverId &solver_id) const
template<typename T >
const std::unordered_map< std::string, T > &	GetOptions (const SolverId &solver_id) const
std::unordered_set< SolverId >	GetSolverIds () const
	Returns the IDs that have any option set. More...
void	Merge (const SolverOptions &other)
	Merges the other solver options into this. More...
bool	operator== (const SolverOptions &other) const
	Returns true if this and other have exactly the same solvers, with exactly the same keys and values for the options for each solver. More...
bool	operator!= (const SolverOptions &other) const
	Negate operator==. More...
void	CheckOptionKeysForSolver (const SolverId &solver_id, const std::unordered_set< std::string > &allowable_double_keys, const std::unordered_set< std::string > &allowable_int_keys, const std::unordered_set< std::string > &allowable_str_keys) const
	Check if for a given solver_id, the option keys are included in double_keys, int_keys and str_keys. More...
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	SolverOptions (const SolverOptions &)=default
SolverOptions &	operator= (const SolverOptions &)=default
	SolverOptions (SolverOptions &&)=default
SolverOptions &	operator= (SolverOptions &&)=default

Constructor & Destructor Documentation

SolverOptions() [1/3]

SolverOptions ( )

default

SolverOptions() [2/3]

SolverOptions ( const SolverOptions &  )

default

SolverOptions() [3/3]

SolverOptions ( SolverOptions &&  )

default

Member Function Documentation

CheckOptionKeysForSolver()

void CheckOptionKeysForSolver	(	const SolverId &	solver_id,
		const std::unordered_set< std::string > &	allowable_double_keys,
		const std::unordered_set< std::string > &	allowable_int_keys,
		const std::unordered_set< std::string > &	allowable_str_keys
	)		const

Check if for a given solver_id, the option keys are included in double_keys, int_keys and str_keys.

Parameters

solver_id	If this SolverOptions has set options for this solver_id, then we check if the option keys are a subset of double_keys, int_keys and str_keys.
double_keys	The set of allowable keys for double options.
int_keys	The set of allowable keys for int options.
str_keys	The set of allowable keys for string options.

Exceptions

invalid_argument

if the solver contains un-allowed options.

GetOptions()

const std::unordered_map<std::string, T>& GetOptions

(

const SolverId &

solver_id

)

const

GetOptionsDouble()

const std::unordered_map< std::string, double > & GetOptionsDouble

(

const SolverId &

solver_id

)

const

GetOptionsInt()

const std::unordered_map< std::string, int > & GetOptionsInt

(

const SolverId &

solver_id

)

const

GetOptionsStr()

const std::unordered_map< std::string, std::string > & GetOptionsStr

(

const SolverId &

solver_id

)

const

GetSolverIds()

std::unordered_set< SolverId > GetSolverIds

(

)

const

Returns the IDs that have any option set.

Merge()

void Merge

(

const SolverOptions &

other

)

Merges the other solver options into this.

If other and this option both define the same option for the same solver, we ignore then one from other and keep the one from this.

operator!=()

bool operator!=

(

const SolverOptions &

other

)

const

Negate operator==.

operator=() [1/2]

SolverOptions& operator= ( SolverOptions &&  )

default

operator=() [2/2]

SolverOptions& operator= ( const SolverOptions &  )

default

operator==()

bool operator==

(

const SolverOptions &

other

)

const

Returns true if this and other have exactly the same solvers, with exactly the same keys and values for the options for each solver.

SetOption() [1/3]

void SetOption	(	const SolverId &	solver_id,
		const std::string &	solver_option,
		double	option_value
	)

SetOption() [2/3]

void SetOption	(	const SolverId &	solver_id,
		const std::string &	solver_option,
		int	option_value
	)

SetOption() [3/3]

void SetOption	(	const SolverId &	solver_id,
		const std::string &	solver_option,
		const std::string &	option_value
	)

---

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

• drake/solvers/solver_options.h
• drake/solvers/solver_options.cc