solver_LP_abstract.hh

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/*
 * Copyright 2015, LAAS-CNRS
 * Author: Andrea Del Prete
 */
 
#ifndef HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
#define HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
 
#include <Eigen/Dense>
#include <hpp/centroidal-dynamics/local_config.hh>
#include <hpp/centroidal-dynamics/util.hh>
 
namespace centroidal_dynamics {

enum CENTROIDAL_DYNAMICS_DLLAPI SolverLP {
  SOLVER_LP_QPOASES = 0,
  SOLVER_LP_CLP = 1
};

enum CENTROIDAL_DYNAMICS_DLLAPI LP_status {
  LP_STATUS_UNKNOWN = -1,
  LP_STATUS_OPTIMAL = 0,
  LP_STATUS_INFEASIBLE = 1,
  LP_STATUS_UNBOUNDED = 2,
  LP_STATUS_MAX_ITER_REACHED = 3,
  LP_STATUS_ERROR = 4
};

class CENTROIDAL_DYNAMICS_DLLAPI Solver_LP_abstract {
 protected:
  bool m_useWarmStart;  // true if the solver is allowed to warm start
  int m_maxIter;        // max number of iterations
  double m_maxTime;     // max time to solve the LP [s]
 
 public:
  Solver_LP_abstract() {
    m_maxIter = 1000;
    m_maxTime = 100.0;
    m_useWarmStart = true;
  }
 
  virtual ~Solver_LP_abstract() {}

  static Solver_LP_abstract* getNewSolver(SolverLP solverType);

  virtual LP_status solve(Cref_vectorX c, Cref_vectorX lb, Cref_vectorX ub,
                          Cref_matrixXX A, Cref_vectorX Alb, Cref_vectorX Aub,
                          Ref_vectorX sol) = 0;

  virtual LP_status solve(const std::string& filename, Ref_vectorX sol);

  virtual bool writeLpToFile(const std::string& filename, Cref_vectorX c,
                             Cref_vectorX lb, Cref_vectorX ub, Cref_matrixXX A,
                             Cref_vectorX Alb, Cref_vectorX Aub);

  virtual bool readLpFromFile(const std::string& filename, VectorX& c,
                              VectorX& lb, VectorX& ub, MatrixXX& A,
                              VectorX& Alb, VectorX& Aub);

  virtual LP_status getStatus() = 0;

  virtual double getObjectiveValue() = 0;

  virtual void getDualSolution(Ref_vectorX res) = 0;

  virtual bool getUseWarmStart() { return m_useWarmStart; }
  virtual void setUseWarmStart(bool useWarmStart) {
    m_useWarmStart = useWarmStart;
  }

  virtual unsigned int getMaximumIterations() { return m_maxIter; }
  virtual bool setMaximumIterations(unsigned int maxIter);

  virtual double getMaximumTime() { return m_maxTime; }
  virtual bool setMaximumTime(double seconds);
};
 
}  // end namespace centroidal_dynamics
 
#endif  // HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH