problem.h

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#ifndef IFOPT_INCLUDE_OPT_PROBLEM_H_
#define IFOPT_INCLUDE_OPT_PROBLEM_H_

#include "variable_set.h"
#include "constraint_set.h"
#include "cost_term.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 opt */

#endif /* IFOPT_INCLUDE_OPT_PROBLEM_H_ */