Struct optimization_engine::alm::AlmProblem

pub struct AlmProblem<MappingAlm, MappingPm, ParametricGradientType, ParametricCostType, ConstraintsType, AlmSetC, LagrangeSetY> where
    MappingAlm: Fn(&[f64], &mut [f64]) -> Result<(), SolverError>,
    MappingPm: Fn(&[f64], &mut [f64]) -> Result<(), SolverError>,
    ParametricGradientType: Fn(&[f64], &[f64], &mut [f64]) -> Result<(), SolverError>,
    ParametricCostType: Fn(&[f64], &[f64], &mut f64) -> Result<(), SolverError>,
    ConstraintsType: Constraint,
    AlmSetC: Constraint,
    LagrangeSetY: Constraint,  { /* fields omitted */ }

Definition of optimization problem to be solved with AlmOptimizer. The optimization problem has the general form

$$\begin{aligned} \mathrm{Minimize}\ f(u) \\ u \in U \\ F_1(u) \in C \\ F_2(u) = 0 \end{aligned}$$

where

• $u\in\mathbb{R}^{n_u}$ is the decision variable,
• $f:\mathbb{R}^n\to\mathbb{R}$ is a $C^{1,1}$-smooth cost function,
• $U$ is a (not necessarily convex) closed subset of $\mathbb{R}^{n_u}$ on which we can easily compute projections (e.g., a rectangle, a ball, a second-order cone, a finite set, etc),
• $F_1:\mathbb{R}^{n_u}\to\mathbb{R}^{n_1}$ and $F_2:\mathbb{R}^{n_u} \to\mathbb{R}^{n_2}$ are mappings with smooth partial derivatives, and
• $C\subseteq\mathbb{R}^{n_1}$ is a convex closed set on which we can easily compute projections.

Methods

impl<MappingAlm, MappingPm, ParametricGradientType, ParametricCostType, ConstraintsType, AlmSetC, LagrangeSetY> AlmProblem<MappingAlm, MappingPm, ParametricGradientType, ParametricCostType, ConstraintsType, AlmSetC, LagrangeSetY> where
    MappingAlm: Fn(&[f64], &mut [f64]) -> Result<(), SolverError>,
    MappingPm: Fn(&[f64], &mut [f64]) -> Result<(), SolverError>,
    ParametricGradientType: Fn(&[f64], &[f64], &mut [f64]) -> Result<(), SolverError>,
    ParametricCostType: Fn(&[f64], &[f64], &mut f64) -> Result<(), SolverError>,
    ConstraintsType: Constraint,
    AlmSetC: Constraint,
    LagrangeSetY: Constraint, 

pub fn new(
    constraints: ConstraintsType,
    alm_set_c: Option<AlmSetC>,
    alm_set_y: Option<LagrangeSetY>,
    parametric_cost: ParametricCostType,
    parametric_gradient: ParametricGradientType,
    mapping_f1: Option<MappingAlm>,
    mapping_f2: Option<MappingPm>,
    n1: usize,
    n2: usize
) -> Self

Constructs new instance of AlmProblem

Arguments

• constraints: hard constraints, set $U$
• alm_set_c: Set $C$ of ALM-specific constraints (convex, closed)
• alm_set_y: Compact, convex set $Y$ of Lagrange multipliers, which needs to be a compact subset of $C^*$ (the convex conjugate of the convex set $C{}\subseteq{}\mathbb{R}^{n_1}$)
• parametric_cost: Parametric cost function, $\psi(u, \xi)$, where $\xi = (c, y)$
• parametric_gradient: Gradient of cost function wrt $u$, that is $\nabla_x \psi(u, \xi)$
• mapping_f1: Mapping F1 of ALM-specific constraints ($F1(u) \in C$)
• mapping_f2: Mapping F2 of PM-specific constraints ($F2(u) = 0$)
• n1: range dimension of $F_1(u)$ (that is, mapping_f1)
• n2: range dimension of $F_2(u)$ (that is, mapping_f2)

Returns

Instance of AlmProblem

Example

use optimization_engine::{SolverError, alm::*, constraints::Ball2};

let psi = |_u: &[f64], _p: &[f64], _cost: &mut f64| -> Result<(), SolverError> { Ok(()) };
let dpsi = |_u: &[f64], _p: &[f64], _grad: &mut [f64]| -> Result<(), SolverError> { Ok(()) };
let n1 = 0;
let n2 = 0;
let bounds = Ball2::new(None, 10.0);
let _alm_problem = AlmProblem::new(
    bounds, NO_SET, NO_SET, psi, dpsi, NO_MAPPING, NO_MAPPING, n1, n2,
);