// 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;
}
