nlp_solver_interface.h

Go to the documentation of this file.

/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 *  Authors: Christoph Rösmann
 *********************************************************************/

#ifndef SRC_OPTIMIZATION_INCLUDE_CORBO_OPTIMIZATION_SOLVER_NLP_SOLVER_INTERFACE_H_
#define SRC_OPTIMIZATION_INCLUDE_CORBO_OPTIMIZATION_SOLVER_NLP_SOLVER_INTERFACE_H_

#include <corbo-core/factory.h>
#include <corbo-core/types.h>
#include <corbo-optimization/optimization_problem_interface.h>
#include <corbo-optimization/types.h>

#ifdef MESSAGE_SUPPORT
#include <corbo-communication/messages/optimization/nlp_solvers.pb.h>
#endif

#include <memory>

namespace corbo {

class NlpSolverInterface
{
 public:
    using Ptr  = std::shared_ptr<NlpSolverInterface>;
    using UPtr = std::unique_ptr<NlpSolverInterface>;

    virtual ~NlpSolverInterface() {}

    virtual Ptr getInstance() const = 0;

    virtual bool isLsqSolver() const = 0;

    virtual bool initialize(OptimizationProblemInterface* problem = nullptr) { return true; }

    virtual SolverStatus solve(OptimizationProblemInterface& problem, bool new_structure, bool new_run = true, double* obj_value = nullptr) = 0;

    virtual void clear() = 0;

#ifdef MESSAGE_SUPPORT
    // implement for import / export support
    virtual void toMessage(corbo::messages::NlpSolver& message) const {}
    virtual void fromMessage(const corbo::messages::NlpSolver& message, std::stringstream* issues = nullptr) {}
#endif
};

using NlpSolverFactory = Factory<NlpSolverInterface>;
#define FACTORY_REGISTER_NLP_SOLVER(type) FACTORY_REGISTER_OBJECT(type, NlpSolverInterface)

}  // namespace corbo

#endif  // SRC_OPTIMIZATION_INCLUDE_CORBO_OPTIMIZATION_SOLVER_NLP_SOLVER_INTERFACE_H_