problem.h

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#ifndef IFOPT_INCLUDE_OPT_PROBLEM_H_
#define IFOPT_INCLUDE_OPT_PROBLEM_H_
 
#include "constraint_set.h"
#include "cost_term.h"
#include "variable_set.h"
 
namespace ifopt {
 
class Problem {
 public:
  using VecBound = Component::VecBound;
  using Jacobian = Component::Jacobian;
  using VectorXd = Component::VectorXd;
 
  Problem();
  virtual ~Problem() = default;
 
  void AddVariableSet(VariableSet::Ptr variable_set);
 
  void AddConstraintSet(ConstraintSet::Ptr constraint_set);
 
  void AddCostSet(CostTerm::Ptr cost_set);
 
  void SetVariables(const double* x);
 
  int GetNumberOfOptimizationVariables() const;
 
  bool HasCostTerms() const;
 
  VecBound GetBoundsOnOptimizationVariables() const;
 
  VectorXd GetVariableValues() const;
 
  double EvaluateCostFunction(const double* x);
 
  VectorXd EvaluateCostFunctionGradient(
      const double* x, bool use_finite_difference_approximation = false,
      double epsilon = std::numeric_limits<double>::epsilon());
 
  int GetNumberOfConstraints() const;
 
  VecBound GetBoundsOnConstraints() const;
 
  VectorXd EvaluateConstraints(const double* x);
 
  void EvalNonzerosOfJacobian(const double* x, double* values);
 
  Jacobian GetJacobianOfConstraints() const;
 
  Jacobian GetJacobianOfCosts() const;
 
  void SaveCurrent();
 
  Composite::Ptr GetOptVariables() const;
 
  void SetOptVariables(int iter);
 
  void SetOptVariablesFinal();
 
  int GetIterationCount() const { return x_prev.size(); };
 
  void PrintCurrent() const;
 
  const Composite& GetConstraints() const { return constraints_; };
 
  const Composite& GetCosts() const { return costs_; };
 
  const std::vector<VectorXd>& GetIterations() const { return x_prev; };
 
 private:
  Composite::Ptr variables_;
  Composite constraints_;
  Composite costs_;
 
  std::vector<VectorXd> x_prev;  
 
  VectorXd ConvertToEigen(const double* x) const;
};
 
}  // namespace ifopt
 
#endif /* IFOPT_INCLUDE_OPT_PROBLEM_H_ */