Ejemplos de OptimizationProblem::GetSolverResult en C++ (Cpp)

Ejemplo n.º 1

Archivo: inverseKinBackend.cpp Proyecto: billhoffman/drake

int GetIKSolverInfo(const OptimizationProblem& prog, SolutionResult result) {
  std::string solver_name;
  int solver_result = 0;
  prog.GetSolverResult(&solver_name, &solver_result);

  if (solver_name == "SNOPT") {
    // We can return SNOPT results directly.
    return solver_result;
  }

  // Make a SNOPT-like return code out of the generic result.
  switch (result) {
    case SolutionResult::kSolutionFound: {
      return 1;
    }
    case SolutionResult::kInvalidInput: {
      return 91;
    }
    case SolutionResult::kInfeasibleConstraints: {
      return 13;
    }
    case SolutionResult::kUnknownError: {
      return 100;  // Not a real SNOPT error.
    }
  }

  return -1;
}