void Options::loadMultipliers (int n, int m, const mxArray* ptr,
double*& zl, double*& zu, double*& lambda) {
const mxArray* p;
// Load the Lagrange multipliers associated with the lower bounds.
p = mxGetField(ptr,0,"zl");
if (p) {
if (!mxIsDouble(p) || (int) mxGetNumberOfElements(p) != n)
throw MatlabException("The initial point for the Lagrange multipliers associated with the lower bounds must be a double-precision array with one element for each optimization variable");
zl = mxGetPr(p);
} else
zl = 0;
// Load the Lagrange multipliers associated with the upper bounds.
p = mxGetField(ptr,0,"zu");
if (p) {
if (!mxIsDouble(p) || (int) mxGetNumberOfElements(p) != n)
throw MatlabException("The initial point for the Lagrange multipliers associated with the upper bounds must be a double-precision array with one element for each optimization variable");
zu = mxGetPr(p);
} else
zu = 0;
// Load the Lagrange multipliers associated with the equality and
// inequality constraints.
p = mxGetField(ptr,0,"lambda");
if (p) {
if (m>0 && (!mxIsDouble(p) || (int) mxGetNumberOfElements(p) != m) )
throw MatlabException("The initial point for the Lagrange multipliers associated with the constraints must be a double-precision array with one element for each constraint");
lambda = mxGetPr(p);
} else
lambda = 0;
}
//Vertical Concatentation of two sparse matrices into a new matrix
void SparseMatrix::VertConcatenate(const SparseMatrix *obj, SparseMatrix *SpCat) {
size_t ind = 0, i = 0, j = 0, k = 0;
//Check dims
if(this->w != obj->w)
throw MatlabException("To vertically concatenate sparse matrices both must have the same number of columns");
//Save Sizes
int N = this->w;
int M1 = this->h;
int M2 = obj->h;
//Check sizes
if(height(*SpCat) != M1+M2)
throw MatlabException("Wrong number of rows in resulting matrix after concatenation");
if(width(*SpCat) != N)
throw MatlabException("Wrong number of columns in resulting matrix after concatenation");
if(SpCat->numelems() != this->numelems()+obj->numelems())
throw MatlabException("Wrong number of nnzs in resulting matrix after concatenation");
//Concatenate into new matrix
SpCat->jc[0] = 0;
for(i = 1; i <= (size_t)N; i++) {
SpCat->jc[i] = this->jc[i] + obj->jc[i];
for(j = 0; j < this->jc[i]-this->jc[i-1]; j++) {
ind = this->jc[i-1]+j;
SpCat->ir[k] = this->ir[ind];
SpCat->x[k++] = this->x[ind];
}
for(j = 0; j < obj->jc[i]-obj->jc[i-1]; j++) {
ind = obj->jc[i-1]+j;
SpCat->ir[k] = obj->ir[ind]+M1;
SpCat->x[k++] = obj->x[ind];
}
}
}
TNLP::LinearityType* Options::loadVariableLinearity(int n, const mxArray *ptr)
{
TNLP::LinearityType* varlin = new TNLP::LinearityType[n]; //The return value
const mxArray* p = mxGetField(ptr,0,"var_lin");
double* types;
if(p) {
if (!mxIsDouble(p) || (mxGetNumberOfElements(p) != n))
throw MatlabException("The var_lin array must be a double-precision array with n elements");
//Get The Variable Types
types = mxGetPr(p);
//Assign them to TMINLP types
for(int i = 0; i < n; i++) {
switch((int)types[i])
{
case 0:
varlin[i] = TNLP::NON_LINEAR;
break;
case 1:
varlin[i] = TNLP::LINEAR;
break;
default:
throw MatlabException("The var_lin array must only contain 0 (nonlinear), or 1 (linear)!");
break;
}
}
}
else {
for(int i = 0; i < n; i++)
varlin[i] = TNLP::NON_LINEAR; //assume all nonlinear
}
return varlin;
}
// Function definitions.
// -----------------------------------------------------------------
double* getMatlabMatrixDouble (const mxArray* ptr) {
if (mxGetNumberOfDimensions(ptr) != 2)
throw MatlabException("Matlab array must be a matrix");
if (!mxIsDouble(ptr))
throw MatlabException("Matlab array must be of type double");
return mxGetPr(ptr);
}
void MatlabJournal::PrintfImpl (EJournalCategory category,
EJournalLevel level, const char* pformat,
va_list ap) {
const int maxStrLen = 1024;
char s[maxStrLen];
#ifdef HAVE_VSNPRINTF
# ifdef HAVE_VA_COPY
va_list apcopy;
va_copy(apcopy, ap);
if (vsnprintf(s,maxStrLen,pformat,apcopy) >= maxStrLen)
throw MatlabException("String buffer it too short for all the characters to be printed to MATLAB console");
va_end(apcopy);
# else
if (vsnprintf(s,maxStrLen,pformat,ap) >= maxStrLen)
throw MatlabException("String buffer it too short for all the characters to be printed to MATLAB console");
# endif
#else
# ifdef HAVE__VSNPRINTF
# ifdef HAVE_VA_COPY
va_list apcopy;
va_copy(apcopy, ap);
if (_vsnprintf(s,maxStrLen,pformat,apcopy) >= maxStrLen)
throw MatlabException("String buffer it too short for all the characters to be printed to MATLAB console");
va_end(apcopy);
# else
if (_vsnprintf(s,maxStrLen,pformat,ap) >= maxStrLen)
throw MatlabException("String buffer it too short for all the characters to be printed to MATLAB console");
# endif
# else
vsprintf(s,pformat,ap);
# endif
#endif
mexPrintf(s);
mexEvalString("drawnow;"); //flush draw buffer
}
// Function definitions for class MatlabString.
// -----------------------------------------------------------------
MatlabString::MatlabString (const mxArray* ptr) {
s = 0;
// Check to make sure the Matlab array is a string.
if (!mxIsChar(ptr))
throw MatlabException("Matlab array must be a string (of type CHAR)");
// Get the string passed as a Matlab array.
s = mxArrayToString(ptr);
if (s == 0)
throw MatlabException("Unable to obtain string from Matlab array");
}
// Function definitions for clas Multipliers.
// -----------------------------------------------------------------
Multipliers::Multipliers (const mxArray*& ptr) {
mxArray* p;
// First check to see whether the MATLAB array is a structure
// array. If not, throw an exception.
if (!mxIsStruct(ptr))
throw MatlabException("Matlab array must be a structure array");
// Get the multipliers corresponding to the lower bounds on the
// optimization variables.
p = mxGetField(ptr,0,lowerBoundMultipliersLabel);
if (p == 0)
throw MatlabException("MATLAB multipliers input does not have the \
correct fields");
zl = new Matrix(p);
// Get the multipliers corresponding to the upper bounds on the
// optimization variables.
p = mxGetField(ptr,0,upperBoundMultipliersLabel);
if (p == 0)
throw MatlabException("MATLAB multipliers input does not have the \
correct fields");
zu = new Matrix(p);
// Get the multipliers corresponding to the upper bounds on the
// optimization variables.
p = mxGetField(ptr,0,constraintMultipliersLabel);
if (p == 0)
throw MatlabException("MATLAB multipliers input does not have the \
correct fields");
lambda = new Matrix(p);
}
double* Options::loadUpperBounds(int n, const mxArray* ptr, double posinfty) {
double* ub; // The return value.
// Load the upper bounds on the variables.
const mxArray* p = mxGetField(ptr,0,"ub");
if (p) {
// Load the upper bounds and check to make sure they are valid.
int N = Iterate::getMatlabData(p,ub);
if (N != n)
throw MatlabException("Upper bounds array must have one element for each optimization variable");
// Convert MATLAB's convention of infinity to BONMIN's convention
// of infinity.
for (int i = 0; i < n; i++)
if (mxIsInf(ub[i]))
ub[i] = posinfty;
} else {
// If the upper bounds have not been specified, set them to
// positive infinity.
ub = new double[n];
for (int i = 0; i < n; i++)
ub[i] = posinfty;
}
return ub;
}
TNLP::LinearityType* Options::loadConstraintLinearity(int m, int nlin, int nnlin, const mxArray *ptr)
{
TNLP::LinearityType* conslin = new TNLP::LinearityType[m]; //The return value
const mxArray* p = mxGetField(ptr,0,"cons_lin");
double* types;
if(m != (nlin+nnlin))
throw MatlabException("The total number of constraints does not equal #lin + #nlin");
if(p) {
if (!mxIsDouble(p) || (mxGetNumberOfElements(p) != m))
throw MatlabException("The cons_lin array must be a double-precision array with m elements");
//Get The Variable Types
types = mxGetPr(p);
//Assign them to TMINLP types
for(int i = 0; i < m; i++) {
//Let the user decide for callback constraints what is nonlinear and linear
if(i < nnlin) {
switch((int)types[i])
{
case 0:
conslin[i] = TNLP::NON_LINEAR;
break;
case 1:
conslin[i] = TNLP::LINEAR;
break;
default:
throw MatlabException("The cons_lin array must only contain 0 (nonlinear), or 1 (linear)!");
break;
}
}
else
conslin[i] = TNLP::LINEAR; //force linear constraints (via A) to be identified as linear
}
}
else {
//Fill in based on nlin and nnlin (noting nonlinear constraints come first based on our concatenation)
for(int i = 0; i < nnlin; i++)
conslin[i] = TNLP::NON_LINEAR;
for(int i = nnlin; i < (nnlin + nlin); i++)
conslin[i] = TNLP::LINEAR;
}
return conslin;
}
TMINLP::VariableType* Options::loadVariableTypes(int n, const mxArray *ptr)
{
TMINLP::VariableType* vartype = new TMINLP::VariableType[n]; //The return value
const mxArray* p = mxGetField(ptr,0,"var_type");
double* types;
if(p) {
if (!mxIsDouble(p) || (mxGetNumberOfElements(p) != n))
throw MatlabException("The var_type array must be a double-precision array with n elements");
//Get The Variable Types
types = mxGetPr(p);
//Assign them to TMINLP types
for(int i = 0; i < n; i++) {
switch((int)types[i])
{
case -1:
vartype[i] = TMINLP::BINARY; //doesn't seem to work?
break;
case 0:
vartype[i] = TMINLP::CONTINUOUS;
break;
case 1:
vartype[i] = TMINLP::INTEGER;
break;
default:
throw MatlabException("The var_type array must only contain -1 (binary), 0 (continous) or 1 (integer)!");
break;
}
}
}
else {
for(int i = 0; i < n; i++)
vartype[i] = TMINLP::CONTINUOUS; //assume all continuous
}
return vartype;
}
// Function definitions for class Iterate.
// -----------------------------------------------------------------
Iterate::Iterate (mxArray* ptr)
: nv(0), ptr(ptr) {
const mxArray* p = 0; // Pointer to a MATLAB array.
// Compute the number of optimization variables.
if (mxIsCell(ptr)) {
// The MATLAB array is a cell array. Repeat for each cell.
int n = mxGetNumberOfElements(ptr);
for (int i = 0; i < n; i++) {
p = mxGetCell(ptr,i); // Get the ith cell.
if (!mxIsDouble(p) || mxIsComplex(ptr) || mxIsSparse(ptr))
throw MatlabException("The initial iterate must be either a REAL DENSE array in DOUBLE precision, or a cell array in which each cell is a REAL DENSE array in DOUBLE precision");
nv += mxGetNumberOfElements(p);
}
} else {
// The MATLAB array should be a numeric array.
if (!mxIsDouble(ptr) || mxIsComplex(ptr) || mxIsSparse(ptr))
throw MatlabException("The initial iterate must be either a REAL DENSE array in DOUBLE precision, or a cell array in which each cell is a REAL DENSE array in DOUBLE precision");
nv = mxGetNumberOfElements(ptr);
}
}
//Sparse Matrix*Vector using MATLAB (assumes constant structure as per linear A)
void SparseMatrix::SpMatrixVec(const Iterate& xin, double *c) {
//Sizes
int M = this->h;
int N = this->w;
//Check dims
if(w != numvars(xin))
throw MatlabException("To multiply a sparse matrix by a vector the number of columns in the matrix must equal the number of rows in the vector");
if(linA == NULL)
throw MatlabException("Error with sparse matrix linear A memory");
//Check if existing vec_c memory exists, if not, create it and assign pointers at the same time
if(vec_c == NULL) {
prhs[0] = this->linA;
prhs[1] = mxCreateDoubleMatrix(N,1,mxREAL);
vec_c = mxCreateDoubleMatrix(M,1,mxREAL);
}
//Copy in current x iterate to MATLAB memory
xin.copyto(mxGetPr(prhs[1]));
//Call Matlab to evaluate sparse Matrix * Vector
try {
mexCallMATLAB(1,&vec_c,2,prhs,"mtimes");
}
catch (std::exception ME) {
const char* what = ME.what();
if (what) {
mexPrintf("Matlab exception:\n%s", what);
throw MatlabException("There was an error when executing the linear constraints");
}
}
catch (...) {
throw MatlabException("There was an error when executing the linear constraints");
}
//Copy results to output c pointer
memcpy(c,mxGetPr(vec_c),M*sizeof(double));
}
int Options::loadConstraintBounds (const mxArray* ptr, double*& cl,
double*& cu, double neginfty,
double posinfty, int &lin, int &nlin) {
int m = 0; // The return value is the number of constraints.
int tm;
//Defaults
lin = 0; nlin = 0;
// LOAD CONSTRAINT BOUNDS.
// If the user has specified constraints bounds, then she must
// specify *both* the lower and upper bounds.
const mxArray* pl = mxGetField(ptr,0,"cl");
const mxArray* pu = mxGetField(ptr,0,"cu");
const mxArray* prl = mxGetField(ptr,0,"rl"); //linear constraint bounds
const mxArray* pru = mxGetField(ptr,0,"ru");
if (pl || pu || prl || pru) {
// Check to make sure the constraint bounds are valid.
if ((!pl ^ !pu) || (!prl ^ !pru))
throw MatlabException("You must specify both lower and upper bounds on the constraints");
if (pl && (!mxIsDouble(pl) || !mxIsDouble(pu) || (mxGetNumberOfElements(pl) != mxGetNumberOfElements(pu))))
throw MatlabException("The nonlinear constraints lower and upper bounds must both be double-precision arrays with the same number of elements");
if (prl && (!mxIsDouble(prl) || !mxIsDouble(pru) || (mxGetNumberOfElements(prl) != mxGetNumberOfElements(pru))))
throw MatlabException("The linear constraints lower and upper bounds must both be double-precision arrays with the same number of elements");
// Get the number of constraints.
if(pl && prl) {
lin = (int)mxGetNumberOfElements(prl);
nlin = (int)mxGetNumberOfElements(pl);
m = lin+nlin;
}
else if(pl) {
lin = 0;
nlin = (int)mxGetNumberOfElements(pl);
m = nlin;
}
else {
lin = (int)mxGetNumberOfElements(prl);
nlin = 0;
m = lin;
}
// Load the lower bounds on the constraints and convert MATLAB's
// convention of infinity to IPOPT's convention of infinity.
cl = new double[m];
cu = new double[m];
if(pl && prl) {
tm = (int)mxGetNumberOfElements(pl);
copymemory(mxGetPr(pl),cl,tm);
copymemory(mxGetPr(pu),cu,tm);
copymemory(mxGetPr(prl),&cl[tm],(int)mxGetNumberOfElements(prl));
copymemory(mxGetPr(pru),&cu[tm],(int)mxGetNumberOfElements(pru));
}
else if(pl) {
copymemory(mxGetPr(pl),cl,m);
copymemory(mxGetPr(pu),cu,m);
}
else {
copymemory(mxGetPr(prl),cl,m);
copymemory(mxGetPr(pru),cu,m);
}
// Convert MATLAB's convention of infinity to IPOPT's convention
// of infinity.
for (int i = 0; i < m; i++) {
if (mxIsInf(cl[i])) cl[i] = neginfty;
if (mxIsInf(cu[i])) cu[i] = posinfty;
}
}
return m;
}
// Function definitions.
// -----------------------------------------------------------------
void mexFunction (int nlhs, mxArray *plhs[],
int nrhs, const mxArray *prhs[])
try {
// Check to see if we have the correct number of input and output
// arguments.
if (nrhs < minNumInputArgs)
throw MatlabException("Incorrect number of input arguments");
// Get the starting point for the variables. This is specified in
// the first input argument. The variables must be either a single
// matrix or a cell array of matrices.
int k = 0; // The index of the current input argument.
ArrayOfMatrices x0(prhs[k++]);
// Create the output, which stores the solution obtained from
// running IPOPT. There should be as many output arguments as cell
// entries in X.
if (nlhs != x0.length())
throw MatlabException("Incorrect number of output arguments");
ArrayOfMatrices x(plhs,x0);
// Load the lower and upper bounds on the variables as
// ArrayOfMatrices objects. They should have the same structure as
// the ArrayOfMatrices object "x".
ArrayOfMatrices lb(prhs[k++]);
ArrayOfMatrices ub(prhs[k++]);
// Check to make sure the bounds make sense.
if (lb != x || ub != x)
throw MatlabException("Input arguments LB and UB must have the same \
structure as X");
// Get the Matlab callback functions.
MatlabString objFunc(prhs[k++]);
MatlabString gradFunc(prhs[k++]);
// Get the auxiliary data.
const mxArray* auxData;
const mxArray* ptr = prhs[k++];
if (nrhs > 5) {
if (mxIsEmpty(ptr))
auxData = 0;
else
auxData = ptr;
}
else
auxData = 0;
// Get the intermediate callback function.
MatlabString* iterFunc;
ptr = prhs[k++];
if (nrhs > 6) {
if (mxIsEmpty(ptr))
iterFunc = 0;
else
iterFunc = new MatlabString(ptr);
}
else
iterFunc = 0;
// Set the options for the L-BFGS algorithm to their defaults.
int maxiter = defaultmaxiter;
int m = defaultm;
double factr = defaultfactr;
double pgtol = defaultpgtol;
// Process the remaining input arguments, which set options for
// the IPOPT algorithm.
while (k < nrhs) {
// Get the option label from the Matlab input argument.
MatlabString optionLabel(prhs[k++]);
if (k < nrhs) {
// Get the option value from the Matlab input argument.
MatlabScalar optionValue(prhs[k++]);
double value = optionValue;
if (!strcmp(optionLabel,"maxiter"))
maxiter = (int) value;
else if (!strcmp(optionLabel,"m"))
m = (int) value;
else if (!strcmp(optionLabel,"factr"))
factr = value / mxGetEps();
else if (!strcmp(optionLabel,"pgtol"))
pgtol = value;
else {
if (iterFunc) delete iterFunc;
throw MatlabException("Nonexistent option");
}
}
}
// Create a new instance of the optimization problem.
x = x0;
MatlabProgram program(x,lb,ub,&objFunc,&gradFunc,iterFunc,
(mxArray*) auxData,m,maxiter,factr,pgtol);
// Run the L-BFGS-B solver.
SolverExitStatus exitStatus = program.runSolver();
if (exitStatus == abnormalTermination) {
if (iterFunc) delete iterFunc;
throw MatlabException("Solver unable to satisfy convergence \
criteria due to abnormal termination");
}
else if (exitStatus == errorOnInput) {