RobotSetup.hpp

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// (C) Copyright CNRS and others 2010
// All Rights Reserved.
// This code is published under the Eclipse Public License.
//
// Authors :
// Pierre Bonami, Université de la Méditérannée
// Hassan Hijazi, Orange Labs
//
// Date : 05/22/2010

#ifndef RobotSetup_H
#define RobotSetup_H
#include "BonBonminSetup.hpp"
#include "BonAmplSetup.hpp"
namespace Bonmin
{
  class RobotSetup : public BonminSetup
  {
  public:
    RobotSetup(const CoinMessageHandler * handler = NULL);
    RobotSetup(const RobotSetup & other);

    RobotSetup(const RobotSetup &setup,
                OsiTMINLPInterface &nlp);

    RobotSetup(const RobotSetup &setup,
                OsiTMINLPInterface &nlp,
                const std::string & prefix);
    virtual BonminSetup * clone() const
    {
      return new RobotSetup(*this);
    }
    //    virtual BonminSetup *clone(OsiTMINLPInterface&nlp)const{
    //      return new RobotSetup(*this, nlp);
    //    }
    RobotSetup *clone(OsiTMINLPInterface&nlp)const{
      return new RobotSetup(*this, nlp);
    }
    RobotSetup *clone(OsiTMINLPInterface &nlp, const std::string & prefix)const{
      return new RobotSetup(*this, nlp, prefix);
    }
    virtual ~RobotSetup()
    {}
    virtual void registerOptions();
    static void registerAllOptions(Ipopt::SmartPtr<Bonmin::RegisteredOptions> roptions);
    void initialize(Ipopt::SmartPtr<TMINLP> tminlp, bool createContinuousSolver = true);
    void initialize(const OsiTMINLPInterface& nlpSi, bool createContinuousSolver = true);

void initialize(char **& argv)
  {
    readOptionsFile();
    /* Read the model.*/
    Ipopt::SmartPtr<AmplTMINLP> model = new AmplTMINLP(ConstPtr(journalist()), roptions(), options(),
                                                argv, NULL, "bonmin", NULL);
    mayPrintDoc();
    initialize(Ipopt::GetRawPtr(model), true);
  }



  protected:
    void addNWays();
    void initializeRobot();
  };
}
#endif