optimization_engine/core/
mod.rs

1#![deny(missing_docs)]
2//! Optimisation algorithms
3//!
4//!
5
6pub mod fbs;
7pub mod panoc;
8pub mod problem;
9pub mod solver_status;
10
11pub use crate::{constraints, FunctionCallResult, SolverError};
12pub use problem::Problem;
13pub use solver_status::SolverStatus;
14
15/// Exit status of an algorithm (not algorithm specific)
16///
17///
18#[derive(Debug, Clone, Copy, PartialEq, Eq)]
19pub enum ExitStatus {
20    /// The algorithm has converged
21    ///
22    /// All termination criteria are satisfied and the algorithm
23    /// converged within the available time and number of iterations
24    Converged,
25    /// Failed to converge because the maximum number of iterations was reached
26    NotConvergedIterations,
27    /// Failed to converge because the maximum execution time was reached
28    NotConvergedOutOfTime,
29}
30
31/// A general optimizer
32pub trait Optimizer {
33    /// solves a given problem and updates the initial estimate `u` with the solution
34    ///
35    /// Returns the solver status
36    ///
37    fn solve(&mut self, u: &mut [f64]) -> Result<SolverStatus, SolverError>;
38}
39
40/// Engine supporting an algorithm
41///
42/// An engine is responsible for the allocation of memory for an algorithm,
43/// especially memory that is reuasble is multiple instances of the same
44/// algorithm (as in model predictive control).
45///
46/// It defines what the algorithm does at every step (see `step`) and whether
47/// the specified termination criterion is satisfied
48///
49pub trait AlgorithmEngine {
50    /// Take a step of the algorithm and return `Ok(true)` only if the iterations should continue
51    fn step(&mut self, u: &mut [f64]) -> Result<bool, SolverError>;
52
53    /// Initializes the algorithm
54    fn init(&mut self, u: &mut [f64]) -> FunctionCallResult;
55}
optimization_engine/core/mod.rs

optimization_engine/core/
mod.rs
