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mathematical_program_result.cc
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mathematical_program_result.cc
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#include "drake/solvers/mathematical_program_result.h"
#include <fmt/format.h>
namespace drake {
namespace solvers {
namespace {
SolverId UnknownId() {
static const never_destroyed<SolverId> result(SolverId({}));
return result.access();
}
} // namespace
MathematicalProgramResult::MathematicalProgramResult()
: decision_variable_index_{},
solution_result_{SolutionResult::kUnknownError},
x_val_{0},
optimal_cost_{NAN},
solver_id_{UnknownId()},
solver_details_{nullptr} {}
const AbstractValue& MathematicalProgramResult::get_abstract_solver_details()
const {
if (!solver_details_) {
throw std::logic_error("The solver_details has not been set yet.");
}
return *solver_details_;
}
bool MathematicalProgramResult::is_success() const {
return solution_result_ == SolutionResult::kSolutionFound;
}
void MathematicalProgramResult::set_x_val(const Eigen::VectorXd& x_val) {
DRAKE_DEMAND(decision_variable_index_.has_value());
if (x_val.size() != static_cast<int>(decision_variable_index_->size())) {
std::stringstream oss;
oss << "MathematicalProgramResult::set_x_val, the dimension of x_val is "
<< x_val.size() << ", expected " << decision_variable_index_->size();
throw std::invalid_argument(oss.str());
}
x_val_ = x_val;
}
double GetVariableValue(
const symbolic::Variable& var,
const std::optional<std::unordered_map<symbolic::Variable::Id, int>>&
variable_index,
const Eigen::Ref<const Eigen::VectorXd>& variable_values) {
DRAKE_ASSERT(variable_index.has_value());
DRAKE_ASSERT(variable_values.rows() ==
static_cast<int>(variable_index->size()));
auto it = variable_index->find(var.get_id());
if (it == variable_index->end()) {
throw std::invalid_argument(fmt::format(
"GetVariableValue: {} is not captured by the variable_index map.",
var.get_name()));
}
return variable_values(it->second);
}
double MathematicalProgramResult::GetSolution(
const symbolic::Variable& var) const {
return GetVariableValue(var, decision_variable_index_, x_val_);
}
symbolic::Expression MathematicalProgramResult::GetSolution(
const symbolic::Expression& e) const {
DRAKE_ASSERT(decision_variable_index_.has_value());
symbolic::Environment env;
for (const auto& var : e.GetVariables()) {
const auto it = decision_variable_index_->find(var.get_id());
// We do not expect every variable to be in GetSolution (e.g. not the
// indeterminates).
if (it != decision_variable_index_->end()) {
env.insert(var, x_val_(it->second));
}
}
return e.EvaluatePartial(env);
}
double MathematicalProgramResult::GetSuboptimalSolution(
const symbolic::Variable& var, int solution_number) const {
return GetVariableValue(var, decision_variable_index_,
suboptimal_x_val_[solution_number]);
}
void MathematicalProgramResult::AddSuboptimalSolution(
double suboptimal_objective, const Eigen::VectorXd& suboptimal_x) {
suboptimal_x_val_.push_back(suboptimal_x);
suboptimal_objectives_.push_back(suboptimal_objective);
}
std::vector<std::string>
MathematicalProgramResult::GetInfeasibleConstraintNames(
const MathematicalProgram& prog, std::optional<double> tolerance) const {
std::vector<std::string> descriptions;
if (!tolerance) {
// TODO(russt): Extract the constraint tolerance from the solver. This
// value was used successfully for some time in MATLAB Drake, so I've
// ported it as the default here.
tolerance = 1e-4;
}
for (const auto& binding : prog.GetAllConstraints()) {
const Eigen::VectorXd val = this->EvalBinding(binding);
const std::shared_ptr<Constraint>& constraint = binding.evaluator();
std::string d = constraint->get_description();
if (d.empty()) {
d = NiceTypeName::Get(*constraint);
}
for (int i = 0; i < val.rows(); i++) {
if (std::isnan(val(i)) ||
val[i] < constraint->lower_bound()[i] - *tolerance ||
val[i] > constraint->upper_bound()[i] + *tolerance) {
descriptions.push_back(d + "[" + std::to_string(i) + "]: " +
std::to_string(constraint->lower_bound()[i]) +
" <= " + std::to_string(val[i]) + " <= " +
std::to_string(constraint->upper_bound()[i]));
}
}
}
return descriptions;
}
std::vector<Binding<Constraint>>
MathematicalProgramResult::GetInfeasibleConstraints(
const MathematicalProgram& prog, std::optional<double> tolerance) const {
std::vector<Binding<Constraint>> infeasible_bindings;
if (!tolerance) {
// TODO(russt): Extract the constraint tolerance from the solver. This
// value was used successfully for some time in MATLAB Drake, so I've
// ported it as the default here.
tolerance = 1e-4;
}
for (const auto& binding : prog.GetAllConstraints()) {
const Eigen::VectorXd val = this->EvalBinding(binding);
const std::shared_ptr<Constraint>& constraint = binding.evaluator();
for (int i = 0; i < constraint->num_constraints(); ++i) {
if (std::isnan(val(i)) ||
val(i) > constraint->upper_bound()(i) + *tolerance ||
val(i) < constraint->lower_bound()(i) - *tolerance) {
infeasible_bindings.push_back(binding);
continue;
}
}
}
return infeasible_bindings;
}
} // namespace solvers
} // namespace drake