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/9.0/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/9.2/capi/parameters.html

"OSQP" – Parameter name and values as specified in OSQP Reference https://osqp.org/docs/interfaces/solver_settings.html#solver-settings

"dReal" – Parameter name and values as specified in dReal Reference https://github.com/dreal/dreal4/blob/master/README.md#command-line-options. Note that Drake only supports a subset of the options listed in the reference.

See also: DrealSolver for the subset of these options supported by the solver interface.

"IBEX" – Parameter name and values as specified in IBEX Reference http://www.ibex-lib.org/doc/optim.html?highlight=eps#options. Note that Drake only supports a subset of the options listed in the reference.

See also: IbexSolver for the subset of these options supported by the solver interface.

#include <drake/solvers/solver_options.h>

Public Types
using	OptionValue = std::variant< double, int, std::string >
	The values stored in SolverOptions can be double, int, or string. More...

Public Member Functions
	SolverOptions ()=default

void	SetOption (const SolverId &solver_id, const std::string &solver_option, double option_value)
	Sets a double-valued solver option for a specific solver. More...

void	SetOption (const SolverId &solver_id, const std::string &solver_option, int option_value)
	Sets an integer-valued solver option for a specific solver. More...

void	SetOption (const SolverId &solver_id, const std::string &solver_option, const std::string &option_value)
	Sets a string-valued solver option for a specific solver. More...

void	SetOption (CommonSolverOption key, OptionValue value)
	Sets a common option for all solvers supporting that option (for example, printing the progress in each iteration). More...

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

const std::unordered_map< CommonSolverOption, OptionValue > &	common_solver_options () const
	Gets the common options for all solvers. More...

std::string	get_print_file_name () const
	Returns the kPrintFileName set via CommonSolverOption, or else an empty string if the option has not been set. More...

bool	get_print_to_console () const
	Returns the kPrintToConsole set via CommonSolverOption, or else false if the option has not been set. More...

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

Member Typedef Documentation

◆ OptionValue

using OptionValue = std::variant<double, int, std::string>

The values stored in SolverOptions can be double, int, or string.

In the future, we might re-order or add more allowed types without any deprecation period, so be sure to use std::visit or std::get<T> to retrieve the variant's value in a future-proof way.

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

std::exception if the solver contains un-allowed options.

◆ common_solver_options()

const std::unordered_map<CommonSolverOption, OptionValue>& common_solver_options ( ) const

Gets the common options for all solvers.

Refer to CommonSolverOption for more details.

◆ get_print_file_name()

std::string get_print_file_name ( ) const

Returns the kPrintFileName set via CommonSolverOption, or else an empty string if the option has not been set.

◆ get_print_to_console()

bool get_print_to_console ( ) const

Returns the kPrintToConsole set via CommonSolverOption, or else false if the option has not been set.

◆ 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() [1/4]

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

Sets a double-valued solver option for a specific solver.

◆ SetOption() [2/4]

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

Sets an integer-valued solver option for a specific solver.

◆ SetOption() [3/4]

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

Sets a string-valued solver option for a specific solver.

◆ SetOption() [4/4]

void SetOption	(	CommonSolverOption	key,
		OptionValue	value
	)

Sets a common option for all solvers supporting that option (for example, printing the progress in each iteration).

If the solver doesn't support the option, the option is ignored.

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

drake/solvers/solver_options.h

Detailed Description

Public Types

Public Member Functions

Member Typedef Documentation

◆ OptionValue

Constructor & Destructor Documentation

◆ SolverOptions() [1/3]

◆ SolverOptions() [2/3]

◆ SolverOptions() [3/3]

Member Function Documentation

◆ CheckOptionKeysForSolver()

◆ common_solver_options()

◆ get_print_file_name()

◆ get_print_to_console()

◆ GetOptions()

◆ GetOptionsDouble()

◆ GetOptionsInt()

◆ GetOptionsStr()

◆ GetSolverIds()

◆ Merge()

◆ operator!=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ SetOption() [1/4]

◆ SetOption() [2/4]

◆ SetOption() [3/4]

◆ SetOption() [4/4]