00001 /****************************************************************************** 00002 Copyright (c) 2017, Alexander W. Winkler, ETH Zurich. All rights reserved. 00003 00004 Redistribution and use in source and binary forms, with or without modification, 00005 are permitted provided that the following conditions are met: 00006 * Redistributions of source code must retain the above copyright notice, 00007 this list of conditions and the following disclaimer. 00008 * Redistributions in binary form must reproduce the above copyright notice, 00009 this list of conditions and the following disclaimer in the documentation 00010 and/or other materials provided with the distribution. 00011 * Neither the name of ETH ZURICH nor the names of its contributors may be 00012 used to endorse or promote products derived from this software without 00013 specific prior written permission. 00014 00015 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00016 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00017 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00018 DISCLAIMED. IN NO EVENT SHALL ETH ZURICH BE LIABLE FOR ANY DIRECT, INDIRECT, 00019 INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 00020 LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 00021 PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 00022 LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE 00023 OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF 00024 ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00025 ******************************************************************************/ 00026 00027 #ifndef IFOPT_INCLUDE_OPT_SNOPT_ADAPTER_H_ 00028 #define IFOPT_INCLUDE_OPT_SNOPT_ADAPTER_H_ 00029 00030 #include <snoptProblem.hpp> 00031 00032 #include <ifopt/problem.h> 00033 00034 namespace ifopt { 00035 00048 class SnoptAdapter : public snoptProblemA { 00049 public: 00050 using NLPPtr = Problem*; 00051 using VectorXd = Problem::VectorXd; 00052 using Jacobian = Problem::Jacobian; 00053 00058 SnoptAdapter (Problem& nlp); 00059 virtual ~SnoptAdapter () = default; 00060 00061 void Init(); 00062 void SetVariables(); 00063 00064 static void ObjectiveAndConstraintFct(int *Status, int *n, double x[], 00065 int *needF, int *neF, double F[], 00066 int *needG, int *neG, double G[], 00067 char *cu, int *lencu, 00068 int iu[], int *leniu, 00069 double ru[], int *lenru); 00070 00071 private: 00072 static NLPPtr nlp_; // use raw pointer as SnoptAdapter doesn't own the nlp. 00073 00074 // additional variables as Snopt76 base class doesn't have them, not really 00075 // necessary but to keep the same structure of the original SnoptAdapter 00076 #ifdef SNOPT76 00077 00078 public: 00079 int jacComputed = 0; 00080 int n = 0; 00081 int neF = 0; 00082 int ObjRow; 00083 double ObjAdd; 00084 00085 double *x, *xlow, *xupp, *xmul; 00086 double *F, *Flow, *Fupp, *Fmul; 00087 00088 int *xstate, *Fstate; 00089 00090 int lenA, lenG, neA, neG; 00091 int *iAfun, *jAvar, *iGfun, *jGvar; 00092 double *A; 00093 #endif 00094 }; 00095 00096 } /* namespace opt */ 00097 00098 #endif /* IFOPT_INCLUDE_OPT_SNOPT_ADAPTER_H_ */