def makeCallback():
nd = ocp.getDesignVars().size()
nc = ocp._constraints.getG().size()
c = C.PyFunction(
MyCallback(),
C.nlpsolverOut(x_opt=C.sp_dense(nd, 1),
cost=C.sp_dense(1, 1),
lambda_x=C.sp_dense(nd, 1),
lambda_g=C.sp_dense(nc, 1),
g=C.sp_dense(nc, 1)), [C.sp_dense(1, 1)])
c.init()
return c
def addCallback():
nd = len(boundsVec)
nc = g.getLb().size()
c = C.PyFunction(
MyCallback(),
C.nlpsolverOut(x=C.sp_dense(nd, 1),
f=C.sp_dense(1, 1),
lam_x=C.sp_dense(nd, 1),
lam_p=C.sp_dense(0, 1),
lam_g=C.sp_dense(nc, 1),
g=C.sp_dense(nc, 1)), [C.sp_dense(1, 1)])
c.init()
solver.setOption("iteration_callback", c)
def setupSolver(self,solverOpts=[],constraintFunOpts=[],callback=None):
if not self.collocationIsSetup:
raise ValueError("you forgot to call setupCollocation")
g = self._constraints.getG()
lbg = self._constraints.getLb()
ubg = self._constraints.getUb()
# Nonlinear constraint function
gfcn = CS.MXFunction([self._dvMap.vectorize()],[g])
setFXOptions(gfcn,constraintFunOpts)
# Objective function of the NLP
if not hasattr(self,'_objective'):
raise ValueError('need to set objective function')
ofcn = CS.MXFunction([self._dvMap.vectorize()],[self._objective])
# solver callback (optional)
if callback is not None:
nd = self._dvMap.vectorize().size()
nc = self._constraints.getG().size()
c = CS.PyFunction( callback,
CS.nlpsolverOut(x_opt = CS.sp_dense(nd,1),
cost = CS.sp_dense(1,1),
lambda_x = CS.sp_dense(nd,1),
lambda_g = CS.sp_dense(nc,1),
lambda_p = CS.sp_dense(0,1),
g = CS.sp_dense(nc,1) ),
[CS.sp_dense(1,1)] )
c.init()
solverOpts.append( ("iteration_callback", c) )
# Allocate an NLP solver
self.solver = CS.IpoptSolver(ofcn,gfcn)
# self.solver = CS.WorhpSolver(ofcn,gfcn)
# self.solver = CS.SQPMethod(ofcn,gfcn)
# Set options
setFXOptions(self.solver, solverOpts)
# initialize the solver
self.solver.init()
# Bounds on g
self.solver.setInput(lbg,CS.NLP_LBG)
self.solver.setInput(ubg,CS.NLP_UBG)
self._gfcn = gfcn
def makeCallback():
nd = ocp.getDesignVars().size()
nc = ocp._constraints.getG().size()
c = C.PyFunction(
MyCallback(),
C.nlpsolverOut(
x_opt=C.sp_dense(nd, 1),
cost=C.sp_dense(1, 1),
lambda_x=C.sp_dense(nd, 1),
lambda_g=C.sp_dense(nc, 1),
g=C.sp_dense(nc, 1),
),
[C.sp_dense(1, 1)],
)
c.init()
return c
def addCallback():
nd = len(boundsVec)
nc = g.getLb().size()
c = C.PyFunction(
MyCallback(),
C.nlpsolverOut(
x=C.sp_dense(nd, 1),
f=C.sp_dense(1, 1),
lam_x=C.sp_dense(nd, 1),
lam_p=C.sp_dense(0, 1),
lam_g=C.sp_dense(nc, 1),
g=C.sp_dense(nc, 1),
),
[C.sp_dense(1, 1)],
)
c.init()
solver.setOption("iteration_callback", c)