matlabprogram.hpp

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// Copyright (C) 2008 Peter Carbonetto. All Rights Reserved.
// This code is published under the Eclipse Public License.
//
// Author: Peter Carbonetto
//         Dept. of Computer Science
//         University of British Columbia
//         September 25, 2008

#ifndef INCLUDE_MATLABPROGRAM
#define INCLUDE_MATLABPROGRAM

#include "iterate.hpp"
#include "options.hpp"
#include "matlabinfo.hpp"
#include "callbackfunctions.hpp"
#include "IpTNLP.hpp"

using Ipopt::TNLP;
using Ipopt::SolverReturn;
using Ipopt::AlgorithmMode;
using Ipopt::IpoptData;
using Ipopt::IpoptCalculatedQuantities;

// Class MatlabProgram
// -----------------------------------------------------------------
class MatlabProgram : public TNLP {
public:
    
  // The constructor.
  MatlabProgram (const Iterate& x0, const CallbackFunctions& funcs,
         const Options& options, Iterate& x, MatlabInfo& info);
    
  // The destructor.
  virtual ~MatlabProgram();
  
  // Method to return some info about the nonlinear program.
  virtual bool get_nlp_info (int& n, int& m, int& sizeOfJ, int& sizeOfH, 
                 IndexStyleEnum& indexStyle);
  
  // Return the bounds for the problem.
  virtual bool get_bounds_info (int n, double* lb, double* ub, int m,
                double* cl, double* cu);
    
  // Return the starting point for the algorithm.
  virtual bool get_starting_point (int n, bool initializeVars, double* vars, 
                   bool initializez, double* zl, double* zu, 
                   int m, bool initializeLambda,
                   double* lambda);
    
  // Compute the value of the objective.
  virtual bool eval_f (int n, const double* vars, bool ignore, double& f);
    
  // Compute the gradient of the objective.
  virtual bool eval_grad_f (int n, const double* vars, bool ignore, 
                double* grad);
    
  // Evaluate the constraint residuals.
  virtual bool eval_g (int n, const double* vars, bool ignore, int m, 
               double* g);
    
  // This method either returns: 1.) The structure of the Jacobian
  // (if "Jacobian" is zero), or 2.) The values of the Jacobian (if
  // "Jacobian" is not zero).
  virtual bool eval_jac_g (int numVariables, const double* variables, 
               bool ignoreThis, int numConstraints, 
               int sizeOfJ, int* rows, int *cols, double* Jx);
    
  // This method either returns: 1.) the structure of the Hessian of
  // the Lagrangian (if "Hessian" is zero), or 2.) the values of the
  // Hessian of the Lagrangian (if "Hesson" is not zero).
  virtual bool eval_h (int n, const double* vars, bool ignore, double sigma, 
               int m, const double* lambda, bool ignoretoo, 
               int sizeOfH, int* rows, int* cols, double* Hx);

  // This method is called when the algorithm is complete.
  virtual void finalize_solution (SolverReturn status, int numVariables, 
                  const double* variables, const double* zl, 
                  const double* zu, int numConstraints, 
                  const double* constraints, 
                  const double* lambda, double objective,
                                  const IpoptData* ip_data,
                                  IpoptCalculatedQuantities* ip_cq);

  // Intermediate callback method. It is called once per iteration
  // of the IPOPT algorithm.
  virtual bool intermediate_callback (AlgorithmMode mode, int t, double f,
                      double inf_pr, double inf_du,
                      double mu, double d_norm,
                      double regularization_size,
                      double alpha_du, double alpha_pr,
                      int ls_trials,
                      const IpoptData* ip_data,
                      IpoptCalculatedQuantities* ip_cq);

protected:
  const Iterate&           x0;       // The initial point.
  const CallbackFunctions& funcs;    // Callback routines.
  const Options&           options;  // Further program info.
  Iterate&                 x;        // Current point.
  MatlabInfo&              info;     // Info passed back to MATLAB.

  // These next two members store information about the structure of
  // the sparse Matlab matrix for the Jacobian of the constraints
  // and the Hessian of the Lagragian.
  SparseMatrix* J;
  SparseMatrix* H;
};

#endif