alpaqa_interface.hpp

#include <alpaqa/panoc-alm.hpp>
#include <alpaqa/problem/box-constr-problem.hpp>
#include <alpaqa/problem/problem-with-counters.hpp>
 
#include <casadi/interfaces/alpaqa/casadi_nlpsol_alpaqa_export.h>
#include "casadi/core/nlpsol_impl.hpp"
#include "casadi/core/timing.hpp"
#include "alpaqa_problem.hpp"
 
using Direction   = alpaqa::LBFGSDirection<alpaqa::DefaultConfig>;
using InnerSolver = alpaqa::PANOCSolver<Direction>;
using OuterSolver = alpaqa::ALMSolver<InnerSolver>;
 
namespace casadi {
 
  class AlpaqaInterface;
 
  struct  AlpaqaMemory : public NlpsolMemory {
 
    alpaqa::ALMSolver<InnerSolver>* solver;
 
    const AlpaqaInterface* interface;
  };
 
  class  AlpaqaInterface : public Nlpsol {
    friend class AlpaqaProblem;
  private:
    void clear_mem_at(AlpaqaMemory* m) const;
 
  public:
    explicit AlpaqaInterface(const std::string& name, const Function& nlp);
    ~AlpaqaInterface() override;
 
    static Nlpsol* creator(const std::string& name, const Function& nlp) {
      return new AlpaqaInterface(name, nlp);
    }
 
    const char* plugin_name() const override { return "alpaqa";}
 
    // Get name of the class
    std::string class_name() const override { return "AlpaqaInterface";}
 
    static const Options options_;
    static const std::string meta_doc;
 
    const Options& get_options() const override { return options_;}
 
    // Initialize the solver
    void init(const Dict& opts) override;
 
    void* alloc_mem() const override { return new AlpaqaMemory();}
 
    int init_mem(void* mem) const override;
 
    void free_mem(void *mem) const override;
 
    Dict get_stats(void* mem) const override;
 
    void set_work(void* mem, const double**& arg, double**& res,
                  casadi_int*& iw, double*& w) const override;
 
    // Solve the NLP
    int solve(void* mem) const override;
 
    Sparsity jacg_sp_;
 
    Dict opts_;
 
    void serialize_body(SerializingStream &s) const override;
 
    static ProtoFunction* deserialize(DeserializingStream& s) { return new AlpaqaInterface(s); }
 
  protected:
    explicit AlpaqaInterface(DeserializingStream& s);
 
    
  };
};