snopt_solver.cc
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26 
27 #include <ifopt/snopt_solver.h>
28 #include <ifopt/snopt_adapter.h>
29 
30 namespace ifopt {
31 
32 void
34 {
35  SnoptAdapter snopt(ref);
36  snopt.Init();
37 
38  // A complete list of options can be found in the snopt user guide:
39  // https://web.stanford.edu/group/SOL/guides/sndoc7.pdf
40  snopt.setProbName( "snopt" );
41  snopt.setIntParameter( "Major Print level", 1 );
42  snopt.setIntParameter( "Minor Print level", 1 );
43  snopt.setIntParameter( "Derivative option", 1 ); // 1 = snopt will not calculate missing derivatives
44  snopt.setIntParameter( "Verify level ", 3 ); // full check on gradients, will throw error
45  snopt.setIntParameter("Iterations limit", 200000);
46  snopt.setRealParameter( "Major feasibility tolerance", 1.0e-4); // target nonlinear constraint violation
47  snopt.setRealParameter( "Minor feasibility tolerance", 1.0e-4); // for satisfying the QP bounds
48  snopt.setRealParameter( "Major optimality tolerance", 1.0e-2); // target complementarity gap
49 
50 
51  // error codes as given in the manual.
52  int Cold = 0; // Basis = 1, Warm = 2;
53 
54 
55  // interface changed with snopt version 7.6
56 #ifdef SNOPT76
57  int nS = 0; // number of super-basic variables (not relevant for cold start)
58  int nInf; // nInf : number of constraints outside of the bounds
59  double sInf;// sInf : sum of infeasibilities
60 
61  status_ = snopt.solve(Cold, snopt.neF, snopt.n, snopt.ObjAdd,
63  snopt.iAfun, snopt.jAvar, snopt.A, snopt.neA,
64  snopt.iGfun, snopt.jGvar, snopt.neG,
65  snopt.xlow, snopt.xupp, snopt.Flow, snopt.Fupp,
66  snopt.x, snopt.xstate, snopt.xmul,
67  snopt.F, snopt.Fstate, snopt.Fmul,
68  nS, nInf, sInf);
69 #else
70  status_ = snopt.solve(Cold);
71 #endif
72 
73  int EXIT = status_ - status_%10; // change least significant digit to zero
74 
75  if (EXIT != 0) {
76  std::string msg = "ERROR: Snopt failed to find a solution. EXIT:" + std::to_string(EXIT) + ", INFO:" + std::to_string(status_) + "\n";
77  throw std::runtime_error(msg);
78  }
79 
80  snopt.SetVariables();
81 }
82 
83 } /* namespace ifopt */
A generic optimization problem with variables, costs and constraints.
Definition: problem.h:97
static void ObjectiveAndConstraintFct(int *Status, int *n, double x[], int *needF, int *neF, double F[], int *needG, int *neG, double G[], char *cu, int *lencu, int iu[], int *leniu, double ru[], int *lenru)
int status_
Definition: solver.h:64
common namespace for all elements in this library.
Definition: bounds.h:33
void Solve(Problem &nlp) override
Creates a snoptProblemA from nlp and solves it.
Definition: snopt_solver.cc:33
Solves the optimization problem with SNOPT version 7.5 and below.
Definition: snopt_adapter.h:48


ifopt
Author(s): Alexander W. Winkler
autogenerated on Fri Jan 22 2021 03:47:32