base_solver_interface.hpp

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#include <Eigen/Dense>
#include <unsupported/Eigen/NumericalDiff>
#include "method_interfaces/base_method_interface.hpp"

#ifndef INCLUDE_SOLVER_INTERFACES_BASE_SOLVER_INTERFACE_HPP_
#define INCLUDE_SOLVER_INTERFACES_BASE_SOLVER_INTERFACE_HPP_

namespace DirectTrajectoryOptimization {

template <typename DIMENSIONS>
class DTOSolverInterface {

public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef typename DIMENSIONS::state_vector_t state_vector_t;
    typedef typename DIMENSIONS::control_vector_t control_vector_t;
    typedef typename DIMENSIONS::state_vector_array_t state_vector_array_t;
    typedef typename DIMENSIONS::control_vector_array_t control_vector_array_t;

    virtual ~DTOSolverInterface() {};

    virtual void InitializeSolver(
            const std::string & problemName,
            const std::string & outputFile,
            const std::string & paramFile /*= "" */,
            const bool &computeJacobian) = 0;

    virtual void Solve(bool warminit = false) = 0;

    virtual void GetDTOSolution(
            state_vector_array_t &yTraj,
            control_vector_array_t &uTraj,
            Eigen::VectorXd &hTraj) = 0;

    virtual void GetDTOSolution(
            state_vector_array_t & yTraj,
            control_vector_array_t & uTraj,
            Eigen::VectorXd & hTraj,
            std::vector<int> & phaseId) = 0;

    virtual void GetDTOSolution(
        state_vector_array_t &yTraj,
        state_vector_array_t &ydotTraj,
        control_vector_array_t &uTraj,
        Eigen::VectorXd &hTraj,
        std::vector<int> &phaseId) { std::cout << "not here" << std::endl; getchar();};


    virtual void GetSolverSolutionVariables(
            Eigen::VectorXi & _x_state,
            Eigen::VectorXd & _x_mul,
            Eigen::VectorXi & _f_state,
            Eigen::VectorXd & _f_mul) {}


    virtual void InitializeDecisionVariablesFromTrajectory(
            const state_vector_array_t & y_sol,
            const control_vector_array_t & u_sol,
            const Eigen::VectorXd & h_sol) = 0;


    virtual void WarmSolverInitialization(
            const Eigen::VectorXi & x_state,
            const Eigen::VectorXd & x_mul,
            const Eigen::VectorXi & f_state,
            const Eigen::VectorXd & f_mul) {};

    virtual void SetVerifyLevel(const int & level) { }
    virtual void UsePrintFile(const bool & flag) { }


    virtual void SetupSolverParameters() = 0 ;

    virtual void GetFVector(Eigen::VectorXd &fVec) = 0;

    void SetVerbosity(bool verb) {  _verbose = verb; }

    void TotallyQuiet(bool quiet) { _totally_quiet_ = quiet; }

  void SaveBasisFile(const bool & flag) {
    _save_this_solution_ = true;
    new_basis_file_param = 30;
  }

  void LoadBasisFile(const bool & flag , int name_number ) {
    _load_from_solution_ = true;
    old_basis_file_param = name_number;
  }


    //member variables
    bool _totally_quiet_ = false;
    bool _verbose = true;
  bool _save_this_solution_ = false;
  bool _load_from_solution_ = false;
  int new_basis_file_param = 0;
  int old_basis_file_param = 0;

protected:

    DTOSolverInterface() {};

};
} // namespace DirectTrajectoryOptimization
#endif /* INCLUDE_SOLVER_INTERFACES_BASE_SOLVER_INTERFACE_HPP_ */