Class SolverIpopt

Inheritance Relationships

Base Type

Class Documentation

class SolverIpopt : public crocoddyl::SolverAbstract

Ipopt solver.

This solver solves the optimal control problem by transcribing with the multiple shooting approach.

See also

solve()

Public Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW SolverIpopt(std::shared_ptr<crocoddyl::ShootingProblem> problem)

Initialize the Ipopt solver.

Parameters:

problem – [in] solver to be diagnostic

~SolverIpopt()
virtual bool solve(const std::vector<Eigen::VectorXd> &init_xs = DEFAULT_VECTOR, const std::vector<Eigen::VectorXd> &init_us = DEFAULT_VECTOR, const std::size_t maxiter = 100, const bool is_feasible = false, const double reg_init = 1e-9)

Compute the optimal trajectory \(\mathbf{x}^*_s,\mathbf{u}^*_s\) as lists of \(T+1\) and \(T\) terms.

From an initial guess init_xs, init_us (feasible or not), iterate over computeDirection() and tryStep() until stoppingCriteria() is below threshold. It also describes the globalization strategy used during the numerical optimization.

Parameters:

  • init_xs – [in] initial guess for state trajectory with \(T+1\) elements (default [])

  • init_us – [in] initial guess for control trajectory with \(T\) elements (default [])

  • maxiter – [in] maximum allowed number of iterations (default 100)

  • is_feasible – [in] true if the init_xs are obtained from integrating the init_us (rollout) (default false)

  • init_reg – [in] initial guess for the regularization value. Very low values are typical used with very good guess points (default 1e-9).

Returns:

A boolean that describes if convergence was reached.

virtual void resizeData()

Resizing the solver data.

If the shooting problem has changed after construction, then this function resizes all the data before starting resolve the problem.

void setStringIpoptOption(const std::string &tag, const std::string &value)

Set a string ipopt option.

Parameters:

  • tag – [in] name of the parameter

  • value – [in] string value for the parameter

void setNumericIpoptOption(const std::string &tag, Ipopt::Number value)

Set a string ipopt option.

Parameters:

  • tag – [in] name of the parameter

  • value – [in] numeric value for the parameter

void set_th_stop(const double th_stop)