void SetIKSolverOptions(const IKoptions& ikoptions,
drake::solvers::OptimizationProblem* prog) {
prog->SetSolverOption("SNOPT", "Derivative option", 1);
prog->SetSolverOption("SNOPT", "Major optimality tolerance",
ikoptions.getMajorOptimalityTolerance());
prog->SetSolverOption("SNOPT", "Major feasibility tolerance",
ikoptions.getMajorFeasibilityTolerance());
prog->SetSolverOption("SNOPT", "Superbasics limit",
ikoptions.getSuperbasicsLimit());
prog->SetSolverOption("SNOPT", "Major iterations limit",
ikoptions.getMajorIterationsLimit());
prog->SetSolverOption("SNOPT", "Iterations limit",
ikoptions.getIterationsLimit());
}
void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[])
{
if(nlhs != 19 || nrhs != 1)
{
mexErrMsgIdAndTxt("Drake:testIKoptions:BadInputs","Usage [robot_address,Q,Qa,Qv,debug_mode, sequentialSeedFlag,majorFeasibilityTolerance,majorIterationsLimit,iterationsLimit,superbasicsLimit,majorOptimalityTolerance,additional_tSamples,fixInitialState,q0_lb,q0_ub,qd0_lb,qd0_ub,qdf_lb,qdf_ub] = testIKoptionsmex(ikoptions_ptr)");
}
IKoptions* ikoptions = (IKoptions*) getDrakeMexPointer(prhs[0]);
long long robot_address = reinterpret_cast<long long>(ikoptions->getRobotPtr());
int nq = ikoptions->getRobotPtr()->num_positions;
MatrixXd Q;
ikoptions->getQ(Q);
MatrixXd Qv;
ikoptions->getQv(Qv);
MatrixXd Qa;
ikoptions->getQa(Qa);
bool debug_mode = ikoptions->getDebug();
bool sequentialSeedFlag = ikoptions->getSequentialSeedFlag();
double majorFeasibilityTolerance = ikoptions->getMajorFeasibilityTolerance();
int majorIterationsLimit = ikoptions->getMajorIterationsLimit();
int iterationsLimit = ikoptions->getIterationsLimit();
int superbasicsLimit = ikoptions->getSuperbasicsLimit();
double majorOptimalityTolerance = ikoptions->getMajorOptimalityTolerance();
RowVectorXd t_samples;
ikoptions->getAdditionaltSamples(t_samples);
bool fixInitialState = ikoptions->getFixInitialState();
VectorXd q0_lb,q0_ub;
VectorXd qd0_lb,qd0_ub;
VectorXd qdf_lb,qdf_ub;
ikoptions->getq0(q0_lb,q0_ub);
ikoptions->getqd0(qd0_lb,qd0_ub);
ikoptions->getqdf(qdf_lb,qdf_ub);
plhs[0] = mxCreateDoubleScalar((double) robot_address);
plhs[1] = mxCreateDoubleMatrix(nq,nq,mxREAL);
memcpy(mxGetPr(plhs[1]),Q.data(),sizeof(double)*nq*nq);
plhs[2] = mxCreateDoubleMatrix(nq,nq,mxREAL);
memcpy(mxGetPr(plhs[2]),Qa.data(),sizeof(double)*nq*nq);
plhs[3] = mxCreateDoubleMatrix(nq,nq,mxREAL);
memcpy(mxGetPr(plhs[3]),Qv.data(),sizeof(double)*nq*nq);
plhs[4] = mxCreateLogicalScalar(debug_mode);
plhs[5] = mxCreateLogicalScalar(sequentialSeedFlag);
plhs[6] = mxCreateDoubleScalar(majorFeasibilityTolerance);
plhs[7] = mxCreateDoubleScalar((double) majorIterationsLimit);
plhs[8] = mxCreateDoubleScalar((double) iterationsLimit);
plhs[9] = mxCreateDoubleScalar((double) superbasicsLimit);
plhs[10] = mxCreateDoubleScalar(majorOptimalityTolerance);
if(t_samples.size()>0)
{
plhs[11] = mxCreateDoubleMatrix(1,static_cast<int>(t_samples.size()),mxREAL);
memcpy(mxGetPr(plhs[11]),t_samples.data(),sizeof(double)*t_samples.size());
}
else
{
plhs[11] = mxCreateDoubleMatrix(0,0,mxREAL);
}
plhs[12] = mxCreateLogicalScalar(fixInitialState);
plhs[13] = mxCreateDoubleMatrix(nq,1,mxREAL);
memcpy(mxGetPr(plhs[13]),q0_lb.data(),sizeof(double)*nq);
plhs[14] = mxCreateDoubleMatrix(nq,1,mxREAL);
memcpy(mxGetPr(plhs[14]),q0_ub.data(),sizeof(double)*nq);
plhs[15] = mxCreateDoubleMatrix(nq,1,mxREAL);
memcpy(mxGetPr(plhs[15]),qd0_lb.data(),sizeof(double)*nq);
plhs[16] = mxCreateDoubleMatrix(nq,1,mxREAL);
memcpy(mxGetPr(plhs[16]),qd0_ub.data(),sizeof(double)*nq);
plhs[17] = mxCreateDoubleMatrix(nq,1,mxREAL);
memcpy(mxGetPr(plhs[17]),qdf_lb.data(),sizeof(double)*nq);
plhs[18] = mxCreateDoubleMatrix(nq,1,mxREAL);
memcpy(mxGetPr(plhs[18]),qdf_ub.data(),sizeof(double)*nq);
}
