Add python binding for IpoptSolverDetails. (RobotLocomotion#11613)

miquelramirez · Jun 11, 2019 · 4e2ed3e · 4e2ed3e
1 parent 757f89a
commit 4e2ed3e
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Showing 3 changed files with 30 additions and 2 deletions.
diff --git a/bindings/pydrake/solvers/BUILD.bazel b/bindings/pydrake/solvers/BUILD.bazel
@@ -84,10 +84,18 @@ drake_pybind_library(
 
 drake_pybind_library(
     name = "ipopt_py",
-    cc_deps = ["//bindings/pydrake:documentation_pybind"],
+    cc_deps = [
+        "//bindings/pydrake:documentation_pybind",
+        "//bindings/pydrake/common:value_pybind",
+    ],
     cc_srcs = ["ipopt_py.cc"],
     package_info = PACKAGE_INFO,
-    py_deps = [":mathematicalprogram_py"],
+    py_deps = [
+        ":mathematicalprogram_py",
+        # TODO(jwnimmer-tri) Only for AbstractValue; we should switch this to
+        # depend on on pydrake/common once the Value bindings have moved there.
+        "//bindings/pydrake/systems:framework_py",
+    ],
 )
 
 drake_pybind_library(

diff --git a/bindings/pydrake/solvers/ipopt_py.cc b/bindings/pydrake/solvers/ipopt_py.cc
@@ -1,5 +1,6 @@
 #include "pybind11/pybind11.h"
 
+#include "drake/bindings/pydrake/common/value_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 #include "drake/solvers/ipopt_solver.h"
@@ -15,10 +16,26 @@ PYBIND11_MODULE(ipopt, m) {
   m.doc() = "Ipopt solver bindings for MathematicalProgram";
 
   py::module::import("pydrake.solvers.mathematicalprogram");
+  py::module::import("pydrake.systems.framework");
 
   py::class_<IpoptSolver, SolverInterface>(
       m, "IpoptSolver", doc.IpoptSolver.doc)
       .def(py::init<>(), doc.IpoptSolver.ctor.doc);
+
+  py::class_<IpoptSolverDetails>(
+      m, "IpoptSolverDetails", doc.IpoptSolverDetails.doc)
+      .def_readwrite("status", &IpoptSolverDetails::status,
+          doc.IpoptSolverDetails.status.doc)
+      .def_readwrite(
+          "z_L", &IpoptSolverDetails::z_L, doc.IpoptSolverDetails.z_L.doc)
+      .def_readwrite(
+          "z_U", &IpoptSolverDetails::z_U, doc.IpoptSolverDetails.z_U.doc)
+      .def_readwrite("g", &IpoptSolverDetails::g, doc.IpoptSolverDetails.g.doc)
+      .def_readwrite("lambda", &IpoptSolverDetails::lambda,
+          doc.IpoptSolverDetails.lambda.doc)
+      .def("ConvertStatusToString", &IpoptSolverDetails::ConvertStatusToString,
+          doc.IpoptSolverDetails.ConvertStatusToString.doc);
+  AddValueInstantiation<IpoptSolverDetails>(m);
 }
 
 }  // namespace pydrake

diff --git a/bindings/pydrake/solvers/test/ipopt_solver_test.py b/bindings/pydrake/solvers/test/ipopt_solver_test.py
@@ -29,6 +29,9 @@ def test_ipopt_solver(self):
         result = solver.Solve(prog, None, None)
         self.assertTrue(result.is_success())
         self.assertTrue(np.allclose(result.GetSolution(x), x_expected))
+        self.assertEqual(result.get_solver_details().status, 0)
+        self.assertEqual(result.get_solver_details().ConvertStatusToString(),
+                         "Success")
 
     def unavailable(self):
         """Per the BUILD file, this test is only run when IPOPT is disabled."""