Detailed Description

The SNOPT solver details after calling Solve() function.

The user can call MathematicalProgramResult::get_solver_details<SnoptSolver>() to obtain the details.

#include <drake/solvers/snopt_solver.h>

Public Attributes
int	info {}
	The snopt INFO field. More...

Eigen::VectorXd	xmul
	The final value of the dual variables for the bound constraint x_lower <= x <= x_upper. More...

Eigen::VectorXd	F
	The final value of the vector of problem functions F(x). More...

Eigen::VectorXd	Fmul
	The final value of the dual variables (Lagrange multipliers) for the general constraints F_lower <= F(x) <= F_upper. More...

double	solve_time {0}
	The duration of the snopt solve in seconds. More...

Member Data Documentation

◆ F

Eigen::VectorXd F

The final value of the vector of problem functions F(x).

◆ Fmul

Eigen::VectorXd Fmul

The final value of the dual variables (Lagrange multipliers) for the general constraints F_lower <= F(x) <= F_upper.

◆ info

int info {}

The snopt INFO field.

Please refer to section 8.6 in "User's Guide for SNOPT Version 7: Software for Large-Scale Nonlinear Programming" (https://web.stanford.edu/group/SOL/guides/sndoc7.pdf) by Philip E. Gill to interpret the INFO field.

◆ solve_time

double solve_time {0}

The duration of the snopt solve in seconds.

◆ xmul

Eigen::VectorXd xmul

The final value of the dual variables for the bound constraint x_lower <= x <= x_upper.

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

drake/solvers/snopt_solver.h