Solver.hpp

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#ifndef DART_OPTIMIZATION_SOLVER_HPP_
#define DART_OPTIMIZATION_SOLVER_HPP_

#include <iostream>
#include <memory>

#include <Eigen/Dense>

namespace dart {
namespace optimization {

class Problem;

class Solver
{
public:
  struct Properties
  {
    std::shared_ptr<Problem> mProblem;

    double mTolerance;

    std::size_t mNumMaxIterations;

    std::size_t mIterationsPerPrint;

    std::ostream* mOutStream;

    bool mPrintFinalResult;

    std::string mResultFile;

    Properties(
        std::shared_ptr<Problem> _problem = nullptr,
        double _tolerance = 1e-9,
        std::size_t _numMaxIterations = 500,
        std::size_t _iterationsPerPrint = 0,
        std::ostream* _ostream = &std::cout,
        bool _printFinalResult = false,
        const std::string& _resultFile = "");
  };

  explicit Solver(const Properties& _properties = Properties());

  explicit Solver(std::shared_ptr<Problem> _problem);

  virtual ~Solver() = default;

  virtual bool solve() = 0;

  virtual std::string getType() const = 0;

  virtual std::shared_ptr<Solver> clone() const = 0;

  void setProperties(const Properties& _properties);

  const Properties& getSolverProperties() const;

  void copy(const Solver& _otherSolver);

  Solver& operator=(const Solver& _otherSolver);

  virtual void setProblem(std::shared_ptr<Problem> _newProblem);

  std::shared_ptr<Problem> getProblem() const;

  virtual void setTolerance(double _newTolerance);

  double getTolerance() const;

  virtual void setNumMaxIterations(std::size_t _newMax);

  std::size_t getNumMaxIterations() const;

  virtual void setIterationsPerPrint(std::size_t _newRatio);

  std::size_t getIterationsPerPrint() const;

  virtual void setOutStream(std::ostream* _os);

  std::ostream* getOutStream() const;

  virtual void setPrintFinalResult(bool _print);

  bool getPrintFinalResult() const;

  virtual void setResultFileName(const std::string& _resultFile);

  const std::string& getResultFileName() const;

protected:
  Properties mProperties;
};

} // namespace optimization
} // namespace dart

#endif // DART_OPTIMIZATION_SOLVER_HPP_