snopt_adapter.h

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#ifndef IFOPT_INCLUDE_OPT_SNOPT_ADAPTER_H_
#define IFOPT_INCLUDE_OPT_SNOPT_ADAPTER_H_

#include <snoptProblem.hpp>

#include <ifopt/problem.h>

namespace ifopt {

class SnoptAdapter : public snoptProblemA {
public:
  using NLPPtr  = Problem*;
  using VectorXd = Problem::VectorXd;
  using Jacobian = Problem::Jacobian;

  SnoptAdapter (Problem& nlp);
  virtual ~SnoptAdapter () = default;

  static void Solve(Problem& nlp);

private:
  static void SetOptions(SnoptAdapter&);

private:
  void Init();
  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);

  void SetVariables();

  static NLPPtr nlp_; // use raw pointer as SnoptAdapter doesn't own the nlp.

};

} /* namespace opt */

#endif /* IFOPT_INCLUDE_OPT_SNOPT_ADAPTER_H_ */