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solvers: Port MosekSolver and GurobiSolver to SolverBase (RobotLocomo…
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -657,15 +657,11 @@ std::shared_ptr<MosekSolver::License> MosekSolver::AcquireLicense() { | |
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| bool MosekSolver::is_available() { return true; } | ||
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| void MosekSolver::Solve(const MathematicalProgram& prog, | ||
| const optional<Eigen::VectorXd>& initial_guess, | ||
| const optional<SolverOptions>& solver_options, | ||
| MathematicalProgramResult* result) const { | ||
| *result = {}; | ||
| result->set_decision_variable_index(prog.decision_variable_index()); | ||
| SolverOptions merged_solver_options = | ||
| solver_options.value_or(SolverOptions()); | ||
| merged_solver_options.Merge(prog.solver_options()); | ||
| void MosekSolver::DoSolve( | ||
| const MathematicalProgram& prog, | ||
| const Eigen::VectorXd& initial_guess, | ||
| const SolverOptions& merged_options, | ||
| MathematicalProgramResult* result) const { | ||
| const int num_vars = prog.num_vars(); | ||
| MSKtask_t task = nullptr; | ||
| MSKrescodee rescode; | ||
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@@ -744,29 +740,35 @@ void MosekSolver::Solve(const MathematicalProgram& prog, | |
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| if (rescode == MSK_RES_OK) { | ||
| for (const auto& double_options : | ||
| merged_solver_options.GetOptionsDouble(id())) { | ||
| merged_options.GetOptionsDouble(id())) { | ||
| if (rescode == MSK_RES_OK) { | ||
| rescode = MSK_putnadouparam(task, double_options.first.c_str(), | ||
| double_options.second); | ||
| } | ||
| } | ||
| for (const auto& int_options : merged_solver_options.GetOptionsInt(id())) { | ||
| for (const auto& int_options : merged_options.GetOptionsInt(id())) { | ||
| if (rescode == MSK_RES_OK) { | ||
| rescode = MSK_putnaintparam(task, int_options.first.c_str(), | ||
| int_options.second); | ||
| } | ||
| } | ||
| for (const auto& str_options : merged_solver_options.GetOptionsStr(id())) { | ||
| for (const auto& str_options : merged_options.GetOptionsStr(id())) { | ||
| if (rescode == MSK_RES_OK) { | ||
| rescode = MSK_putnastrparam(task, str_options.first.c_str(), | ||
| str_options.second.c_str()); | ||
| } | ||
| } | ||
| } | ||
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| if (with_integer_or_binary_variable && initial_guess.has_value()) { | ||
| // Mosek can accept the initial guess on its integer/binary variables, but | ||
| // not on the continuous variables. So it allows some of the variables' | ||
| // initial guess to be unset, while setting the others. If the initial guess | ||
| // for any variable is finite, then we ask Mosek to set the initial guess. | ||
| const bool has_any_finite_initial_guess = | ||
| initial_guess.unaryExpr([](double g) { return std::isfinite(g); }).any(); | ||
| if (with_integer_or_binary_variable && has_any_finite_initial_guess) { | ||
| // Set the initial guess for the integer/binary variables. | ||
| DRAKE_ASSERT(initial_guess->size() == prog.num_vars()); | ||
| DRAKE_ASSERT(initial_guess.size() == prog.num_vars()); | ||
| MSKint32t num_mosek_vars{0}; | ||
| if (rescode == MSK_RES_OK) { | ||
| // num_mosek_vars is guaranteed to be no less than prog.num_vars(), as we | ||
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@@ -785,7 +787,7 @@ void MosekSolver::Solve(const MathematicalProgram& prog, | |
| if (var_type == MathematicalProgram::VarType::INTEGER || | ||
| var_type == MathematicalProgram::VarType::BINARY) { | ||
| if (rescode == MSK_RES_OK) { | ||
| const MSKrealt initial_guess_i = initial_guess.value()(var_count); | ||
| const MSKrealt initial_guess_i = initial_guess(var_count); | ||
| rescode = | ||
| MSK_putxxslice(task, MSK_SOL_ITG, i, i + 1, &initial_guess_i); | ||
| } | ||
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@@ -820,7 +822,6 @@ void MosekSolver::Solve(const MathematicalProgram& prog, | |
| solution_type = MSK_SOL_ITR; | ||
| } | ||
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| result->set_solver_id(id()); | ||
| // TODO([email protected]) : Add MOSEK parameters. | ||
| // Mosek parameter are added by enum, not by string. | ||
| MSKsolstae solution_status{MSK_SOL_STA_UNKNOWN}; | ||
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@@ -895,13 +896,5 @@ void MosekSolver::Solve(const MathematicalProgram& prog, | |
| MSK_deletetask(&task); | ||
| } | ||
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| SolutionResult MosekSolver::Solve(MathematicalProgram& prog) const { | ||
| MathematicalProgramResult result; | ||
| Solve(prog, {}, {}, &result); | ||
| const SolverResult solver_result = result.ConvertToSolverResult(); | ||
| prog.SetSolverResult(solver_result); | ||
| return result.get_solution_result(); | ||
| } | ||
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| } // namespace solvers | ||
| } // namespace drake | ||
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