Problem.hpp

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#ifndef DART_OPTIMIZATION_PROBLEM_HPP_
#define DART_OPTIMIZATION_PROBLEM_HPP_

#include <cstddef>
#include <vector>

#include <Eigen/Dense>

#include "dart/optimization/Function.hpp"

namespace dart {
namespace optimization {

class Problem
{
public:
  explicit Problem(std::size_t _dim = 0);

  virtual ~Problem() = default;

  //--------------------------- Problem Setting --------------------------------
  void setDimension(std::size_t _dim);

  std::size_t getDimension() const;

  void setInitialGuess(const Eigen::VectorXd& _initGuess);

  const Eigen::VectorXd& getInitialGuess() const;

  void addSeed(const Eigen::VectorXd& _seed);

  Eigen::VectorXd& getSeed(std::size_t _index);

  const Eigen::VectorXd& getSeed(std::size_t _index) const;

  std::vector<Eigen::VectorXd>& getSeeds();

  const std::vector<Eigen::VectorXd>& getSeeds() const;

  void clearAllSeeds();

  void setLowerBounds(const Eigen::VectorXd& _lb);

  const Eigen::VectorXd& getLowerBounds() const;

  void setUpperBounds(const Eigen::VectorXd& _ub);

  const Eigen::VectorXd& getUpperBounds() const;

  void setObjective(FunctionPtr _obj);

  FunctionPtr getObjective() const;

  void addEqConstraint(FunctionPtr _eqConst);

  void addIneqConstraint(FunctionPtr _ineqConst);

  std::size_t getNumEqConstraints() const;

  std::size_t getNumIneqConstraints() const;

  FunctionPtr getEqConstraint(std::size_t _idx) const;

  FunctionPtr getIneqConstraint(std::size_t _idx) const;

  void removeEqConstraint(FunctionPtr _eqConst);

  void removeIneqConstraint(FunctionPtr _ineqConst);

  void removeAllEqConstraints();

  void removeAllIneqConstraints();

  //------------------------------ Result --------------------------------------
  void setOptimumValue(double _val);

  double getOptimumValue() const;

  void setOptimalSolution(const Eigen::VectorXd& _optParam);

  const Eigen::VectorXd& getOptimalSolution();

protected:
  std::size_t mDimension;

  Eigen::VectorXd mInitialGuess;

  std::vector<Eigen::VectorXd> mSeeds;

  Eigen::VectorXd mLowerBounds;

  Eigen::VectorXd mUpperBounds;

  FunctionPtr mObjective;

  std::vector<FunctionPtr> mEqConstraints;

  std::vector<FunctionPtr> mIneqConstraints;

  double mOptimumValue;

  Eigen::VectorXd mOptimalSolution;
};

} // namespace optimization
} // namespace dart

#endif // #ifndef DART_OPTIMIZATION_PROBLEM_HPP_