ex_test_ipopt.cc
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26 
27 #include <iostream>
28 
29 #include <ifopt/ipopt_solver.h>
30 #include <ifopt/problem.h>
32 
33 using namespace ifopt;
34 
35 int main()
36 {
37  // 1. define the problem
38  Problem nlp;
39  nlp.AddVariableSet(std::make_shared<ExVariables>());
40  nlp.AddConstraintSet(std::make_shared<ExConstraint>());
41  nlp.AddCostSet(std::make_shared<ExCost>());
42  nlp.PrintCurrent();
43 
44  // 2. choose solver and options
45  IpoptSolver ipopt;
46  ipopt.SetOption("linear_solver", "mumps");
47  ipopt.SetOption("jacobian_approximation", "exact");
48 
49  // 3 . solve
50  ipopt.Solve(nlp);
51  Eigen::VectorXd x = nlp.GetOptVariables()->GetValues();
52  std::cout << x.transpose() << std::endl;
53 
54  // 4. test if solution correct
55  double eps = 1e-5; //double precision
56  assert(1.0 - eps < x(0) && x(0) < 1.0 + eps);
57  assert(0.0 - eps < x(1) && x(1) < 0.0 + eps);
58 }
ifopt::IpoptSolver::Solve
void Solve(Problem &nlp) override
Creates an IpoptAdapter and solves the NLP.
Definition: ipopt_solver.cc:90
ifopt::Problem::AddConstraintSet
void AddConstraintSet(ConstraintSet::Ptr constraint_set)
Add a set of multiple constraints to the optimization problem.
Definition: problem.cc:74
ifopt::IpoptSolver::SetOption
void SetOption(const std::string &name, const std::string &value)
Definition: ipopt_solver.cc:118
problem.h
ifopt::Problem
A generic optimization problem with variables, costs and constraints.
Definition: problem.h:123
ifopt::IpoptSolver
An interface to IPOPT, fully hiding its implementation.
Definition: ipopt_solver.h:47
ifopt::Problem::AddCostSet
void AddCostSet(CostTerm::Ptr cost_set)
Add a cost term to the optimization problem.
Definition: problem.cc:80
test_vars_constr_cost.h
Example to generate a solver-independent formulation for the problem, taken from the IPOPT cpp_exampl...
ifopt::Problem::AddVariableSet
void AddVariableSet(VariableSet::Ptr variable_set)
Add one individual set of variables to the optimization problem.
Definition: problem.cc:69
ifopt
common namespace for all elements in this library.
Definition: bounds.h:33
main
int main()
Definition: ex_test_ipopt.cc:35
ifopt::Problem::GetOptVariables
Composite::Ptr GetOptVariables() const
Read/write access to the current optimization variables.
Definition: problem.cc:188
ipopt_solver.h
ifopt::Problem::PrintCurrent
void PrintCurrent() const
Prints the variables, costs and constraints.
Definition: problem.cc:203


ifopt
Author(s): Alexander W. Winkler
autogenerated on Mon Sep 18 2023 02:14:38