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;

  void Init();
  void SetVariables();

  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);

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

// additional variables as Snopt76 base class doesn't have them, not really
// necessary but to keep the same structure of the original SnoptAdapter
#ifdef SNOPT76

public:
  int     jacComputed = 0;
  int     n = 0;
  int     neF = 0;
  int     ObjRow;
  double  ObjAdd;

  double *x, *xlow, *xupp, *xmul;
  double *F, *Flow, *Fupp, *Fmul;

  int    *xstate, *Fstate;

  int     lenA, lenG, neA, neG;
  int    *iAfun, *jAvar, *iGfun, *jGvar;
  double *A;
#endif
};

} /* namespace opt */

#endif /* IFOPT_INCLUDE_OPT_SNOPT_ADAPTER_H_ */