- minor changes

- checking bounds in IPOPTSolver

git-svn-id: http://www.openflipper.org/svnrepo/CoMISo/trunk@117 1355f012-dd97-4b2f-ae87-10fa9f823a57

CoMISo/NSolver/BoundConstraint.hh

@@ -49,7 +49,7 @@ public:
 
  
   /// Destructor
-  ~BoundConstraint();
+  virtual ~BoundConstraint();
 
   virtual int    n_unknowns      (                                      );
   virtual double eval_constraint ( const double* _x                     );

CoMISo/NSolver/IPOPTSolver.cc

@@ -184,13 +184,13 @@ bool NProblemIPOPT::get_nlp_info(Index& n, Index& m, Index& nnz_jac_g,
 
   // get nonzero structure
   std::vector<double> x(n);
-  problem_->initial_x(&(x[0]));
+  problem_->initial_x(P(x));
 
   // nonzeros in the jacobian of C_ and the hessian of the lagrangian
   SMatrixNP HP;
   SVectorNC g;
   SMatrixNC H;
-  problem_->eval_hessian(&(x[0]), HP);
+  problem_->eval_hessian(P(x), HP);
 
   // get nonzero structure of hessian of problem
   for(int i=0; i<HP.outerSize(); ++i)
@@ -201,12 +201,12 @@ bool NProblemIPOPT::get_nlp_info(Index& n, Index& m, Index& nnz_jac_g,
   // get nonzero structure of constraints
   for( int i=0; i<m; ++i)
   {
-    constraints_[i]->eval_gradient(&(x[0]),g);
+    constraints_[i]->eval_gradient(P(x),g);
 
     nnz_jac_g += g.nonZeros();
 
     // count lower triangular elements
-    constraints_[i]->eval_hessian (&(x[0]),H);
+    constraints_[i]->eval_hessian (P(x),H);
 
     SMatrixNC::iterator m_it = H.begin();
     for(; m_it != H.end(); ++m_it)
@@ -227,6 +227,13 @@ bool NProblemIPOPT::get_nlp_info(Index& n, Index& m, Index& nnz_jac_g,
 bool NProblemIPOPT::get_bounds_info(Index n, Number* x_l, Number* x_u,
                             Index m, Number* g_l, Number* g_u)
 {
+  // check dimensions
+  if( n != (Index)problem_->n_unknowns())
+    std::cerr << "Warning: IPOPT #unknowns != n " << n << problem_->n_unknowns() << std::endl;
+  if( m != (Index)constraints_.size())
+    std::cerr << "Warning: IPOPT #constraints != m " << m << constraints_.size() << std::endl;
+
+
   // first clear all variable bounds
   for( int i=0; i<n; ++i)
   {
@@ -240,8 +247,10 @@ bool NProblemIPOPT::get_bounds_info(Index n, Number* x_l, Number* x_u,
   // iterate over bound constraints and set them
   for(unsigned int i=0; i<bound_constraints_.size(); ++i)
   {
-    switch(bound_constraints_[i]->constraint_type())
+    if((Index)(bound_constraints_[i]->idx()) < n)
     {
+      switch(bound_constraints_[i]->constraint_type())
+      {
       case NConstraintInterface::NC_LESS_EQUAL:
       {
         x_u[bound_constraints_[i]->idx()] = bound_constraints_[i]->bound();
@@ -257,7 +266,10 @@ bool NProblemIPOPT::get_bounds_info(Index n, Number* x_l, Number* x_u,
         x_l[bound_constraints_[i]->idx()] = bound_constraints_[i]->bound();
         x_u[bound_constraints_[i]->idx()] = bound_constraints_[i]->bound();
       }break;
+      }
     }
+    else
+      std::cerr << "Warning: invalid bound constraint in IPOPTSolver!!!" << std::endl;
   }
 
   // set bounds for constraints

CoMISo/NSolver/IPOPTSolver.hh

@@ -130,7 +130,7 @@ public:
 
   /** default constructor */
   NProblemIPOPT(NProblemInterface* _problem, std::vector<NConstraintInterface*>& _constraints)
-   : problem_(_problem), constraints_(_constraints) { split_constraints(_constraints);}
+   : problem_(_problem) { split_constraints(_constraints);}
 
   /** default destructor */
   virtual ~NProblemIPOPT() {};
@@ -210,6 +210,15 @@ private:
   // split user-provided constraints into general-constraints and bound-constraints
   void split_constraints(std::vector<NConstraintInterface*>& _constraints);
 
+protected:
+  double* P(std::vector<double>& _v)
+  {
+    if( !_v.empty())
+      return ((double*)&_v[0]);
+    else
+      return 0;
+  }
+
 private:
 
   // pointer to problem instance

CoMISo/NSolver/LinearConstraint.hh

@@ -49,7 +49,7 @@ public:
   LinearConstraint(const SVectorNC& _coeffs, const double _b, const ConstraintType _type = NC_EQUAL);
 
   /// Destructor
-  ~LinearConstraint();
+  virtual ~LinearConstraint();
 
   virtual int n_unknowns();
 

CoMISo/NSolver/NConstraintInterface.hh

@@ -47,7 +47,7 @@ public:
   NConstraintInterface(const ConstraintType _type = NC_EQUAL) : type_(_type) {}
  
   /// Destructor
-  ~NConstraintInterface() {}
+  virtual ~NConstraintInterface() {}
 
   virtual int             n_unknowns      (                                      ) = 0;
   virtual double          eval_constraint ( const double* _x                     ) = 0;