// This file is part of mpc.

// mpc is free software: you can redistribute it and/or

// modify

// it under the terms of the GNU Lesser General Public License as published by

// the Free Software Foundation, either version 3 of the License, or

// (at your option) any later version.

//

// mpc is distributed in the hope that it will be useful,

// but WITHOUT ANY WARRANTY; without even the implied warranty of

// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

// GNU Lesser General Public License for more details.

//

// You should have received a copy of the GNU Lesser General Public License

// along with mpc. If not, see

// <http://www.gnu.org/licenses/>.

// header

#include "GUROBISolver.h"

// stl

#include <iostream>

namespace mpc {

/*

* GUROBI

*/

GUROBISolver::GUROBISolver()

: solver_(new Eigen::GurobiDense())

{

solver_->displayOutput(false);

solver_->feasibilityTolerance(1e-8);

}

int GUROBISolver::SI_fail() const

{

return solver_->fail();

}

int GUROBISolver::SI_iter() const

{

return solver_->iter();

}

void GUROBISolver::SI_printLevel(int pl)

{

solver_->displayOutput(pl != 0);

}

void GUROBISolver::SI_feasibilityTolerance(double tol)

{

solver_->feasibilityTolerance(tol); //primal feasible tolerance

solver_->optimalityTolerance(tol); //dual feasible tolerance

}

bool GUROBISolver::SI_warmStart() const

{

// 2 is for non-warmstart solver

return solver_->warmStart() != Eigen::GurobiCommon::WarmStatus::NONE;

}

void GUROBISolver::SI_warmStart(bool w)

{

// -1 is is for default warmstart

// 2 is for non-warmstart solver

using WS = Eigen::GurobiCommon::WarmStatus;

solver_->warmStart((w ? WS::DEFAULT : WS::NONE));

}

void GUROBISolver::SI_inform() const

{

solver_->inform();

}

const Eigen::VectorXd& GUROBISolver::SI_result() const

{

return solver_->result();

}

void GUROBISolver::SI_problem(int nrVar, int nrEq, int nrInEq)

{

solver_->problem(nrVar, nrEq, nrInEq);

}

bool GUROBISolver::SI_solve(const Eigen::MatrixXd& Q, const Eigen::VectorXd& c,

const Eigen::MatrixXd& Aeq, const Eigen::VectorXd& beq,

const Eigen::MatrixXd& Aineq, const Eigen::VectorXd& bineq,

const Eigen::VectorXd& XL, const Eigen::VectorXd& XU)

{

return solver_->solve(Q, c, Aeq, beq, Aineq, bineq, XL, XU);

}

} // namespace pc