// Assume by the time this constructor is called, the number of parameters and constraints has been finalized
InteriorPointOptimizer::InteriorPointOptimizer( const OptimizerSystem& sys )
: OptimizerRep( sys ) {
int n = sys.getNumParameters();
int m = sys.getNumConstraints();
if( n < 1 ) {
const char* where = " InteriorPointOptimizer Initialization";
const char* szName = "dimension";
SimTK_THROW5(SimTK::Exception::ValueOutOfRange, szName, 1, n, INT_MAX, where);
}
// Initialize arrays to store multipliers -- will be used for warm starts
mult_x_L = new Number[n];
mult_x_U = new Number[n];
mult_g = new Number[m];
for(int i=0;i<n;i++) mult_x_L[i] = mult_x_U[i] = 0;
for(int i=0;i<m;i++) mult_g[i] = 0;
g_L = new Number[m];
g_U = new Number[m];
/* set the bounds on the equality constraint functions */
for(int i=0;i<sys.getNumEqualityConstraints();i++){
g_U[i] = g_L[i] = 0.0;
}
/* set the bounds on the inequality constraint functions */
for(int i=sys.getNumEqualityConstraints();i<m;i++){
g_U[i] = SimTK::Real(POSITIVE_INF);
g_L[i] = 0.0;
}
firstOptimization = true;
}
//_____________________________________________________________________________
CFSQPOptimizer::CFSQPOptimizer(const OptimizerSystem& sys)
: OptimizerRep(sys)
{
bindToCFSQPLibrary();
_infinity = 1.0e10;
_mode = 100;
_epseqn = 1.0e-8;
_inform = 0;
_udelta = 0.0;
int nx = sys.getNumParameters();
// NEW MAX ITERATIONS
maxIterations = 4 * nx;
// SQP STUFF- NOT CURRENTLY SUPPORTED
int i;
_ncsrl = 0;
_ncsrn = 0;
_nfsr = 0;
int lenmesh = _nfsr+_ncsrn+_ncsrl; if(lenmesh<1) lenmesh=1;
_mesh = new int[lenmesh];
for(i=0;i<lenmesh;i++) _mesh[i] = 0;
// PERFORMANCE
int lenp = 1 - _nfsr; // _target->getNumContacts() - _nfsr;
for(int i=0;i<_nfsr;i++) lenp += _mesh[i];
if(lenp<1) lenp = 1;
_p = new double[lenp];
// CONSTRAINTS
int lenc = sys.getNumConstraints() - _ncsrl - _ncsrn;
for(int i=0;i<_ncsrn;i++) lenc += _mesh[i+_nfsr];
for(int i=0;i<_ncsrl;i++) lenc += _mesh[i+_nfsr+_ncsrn];
if(lenc<1) lenc = 1;
_c = new double[lenc];
// LAGRANGE MULTIPLIERS
_lambda = new double[nx+lenp+lenc];
}