snopt_solver.h

#pragma once

#include <string>

#include "drake/common/drake_copyable.h"
#include "drake/solvers/mathematical_program_solver_interface.h"

namespace drake {
namespace solvers {

class SnoptSolver : public MathematicalProgramSolverInterface  {
 public:
  DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(SnoptSolver)

  SnoptSolver() = default;
  ~SnoptSolver() override = default;

  // This solver is implemented in various pieces depending on if
  // SNOPT was available during compilation.
  bool available() const override { return is_available(); };

  static bool is_available();

  SolutionResult Solve(MathematicalProgram& prog) const override;

  void Solve(const MathematicalProgram& prog,
             const optional<Eigen::VectorXd>& initial_guess,
             const optional<SolverOptions>& solver_options,
             MathematicalProgramResult* result) const override;

  SolverId solver_id() const override;

  /// @return same as MathematicalProgramSolverInterface::solver_id()
  static SolverId id();

  bool AreProgramAttributesSatisfied(
      const MathematicalProgram& prog) const override;

  static bool ProgramAttributesSatisfied(const MathematicalProgram& prog);

  /// @return if the solver is thread safe. SNOPT f2c interface uses global
  /// variables, hence it is not thread safe. SNOPT fortran interface is thread
  /// safe.
  static bool is_thread_safe();

  /// For some reason, SNOPT 7.4 fails to detect a simple LP being unbounded.
  static bool is_bounded_lp_broken();
};

}  // namespace solvers
}  // namespace drake