ipopt.hpp

// BSD 3-Clause License
//
// Copyright (C) 2022-2025, IRI: CSIC-UPC, Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_CORE_SOLVERS_IPOPT_HPP_
#define CROCODDYL_CORE_SOLVERS_IPOPT_HPP_

#define HAVE_CSTDDEF
#include <IpIpoptApplication.hpp>
#include <IpSolveStatistics.hpp>
#undef HAVE_CSTDDEF

#include "crocoddyl/core/solver-base.hpp"
#include "crocoddyl/core/solvers/ipopt/ipopt-iface.hpp"

namespace crocoddyl {

class SolverIpopt : public SolverAbstractTpl<Ipopt::Number> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_BASE_DERIVED_FLOATINGPOINT_CAST(SolverBase, SolverIpopt)

 typedef Ipopt::Number Scalar;
 typedef SolverAbstractTpl<Scalar> SolverAbstract;
 typedef ShootingProblemTpl<Scalar> ShootingProblem;
 typedef IpoptInterfaceTpl<Scalar> IpoptInterface;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef typename MathBase::VectorXs VectorXs;
 typedef typename MathBase::Vector3s Vector3s;
 using SolverAbstract::resizeData;
 using SolverAbstract::setCandidate;

 SolverIpopt(std::shared_ptr<ShootingProblem> problem);
 ~SolverIpopt() = default;

 bool solve(
 const std::vector<VectorXs>& init_xs = DefaultVector<Scalar>::value,
 const std::vector<VectorXs>& init_us = DefaultVector<Scalar>::value,
 const std::size_t maxiter = 100, const bool is_feasible = false,
 const Scalar reg_init = Scalar(1e-9)) override;
 virtual void resizeData() override;

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

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

 void set_th_stop(const Scalar th_stop);

 private:
 Ipopt::SmartPtr<IpoptInterface> ipopt_iface_;
 Ipopt::SmartPtr<Ipopt::IpoptApplication> ipopt_app_;
 Ipopt::ApplicationReturnStatus ipopt_status_;

 virtual void computeDirection(const bool recalc) override;
 virtual Scalar tryStep(const Scalar steplength = Scalar(1.)) override;
 virtual Scalar stoppingCriteria() override;
 virtual Vector3s expectedImprovement() override;

 using SolverAbstract::cost_;
 using SolverAbstract::DV_;
 using SolverAbstract::iter_;
 using SolverAbstract::problem_;
 using SolverAbstract::th_stop_;
 using SolverAbstract::us_;
 using SolverAbstract::xs_;
};
} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/solvers/ipopt.hxx"

#endif