quad_rotor_main.cpp

// Copyright (C) 2005, 2009 International Business Machines and others.
// All Rights Reserved.
// This code is published under the Eclipse Public License.
//
// Authors:  Carl Laird, Andreas Waechter     IBM    2005-08-10
// 
// ./quad_rotor_main 50
#include "IpIpoptApplication.hpp"
#include "quad_rotor_nlp.hpp"
#include "Differentiation_Matrix.hpp"
#include <iostream>
#include <cstdlib>

using namespace Ipopt;

int main(int argv, char* argc[]) {
  // Create a new instance of your nlp
  //  (use a SmartPtr, not raw)
  int no_of_grid_points;
  //std::cin >> no_of_grid_points;
  no_of_grid_points = atoi(argc[1]);
  SmartPtr<TNLP> mynlp = new QUAD_ROTOR_NLP(no_of_grid_points);

  // Create a new instance of IpoptApplication
  //  (use a SmartPtr, not raw)
  // We are using the factory, since this allows us to compile this
  // example with an Ipopt Windows DLL

  SmartPtr<IpoptApplication> app = IpoptApplicationFactory();
  app->RethrowNonIpoptException(true);

  // Change some options
  // Note: The following choices are only examples, they might not be
  //       suitable for your optimization problem.
  // app->Options()->SetNumericValue("tol", 1e-7);
  // app->Options()->SetStringValue("mu_strategy", "adaptive");
  // app->Options()->SetStringValue("output_file", "ipopt.out");
  // The following overwrites the default name (ipopt.opt) of the
  // options file
  app->Options()->SetStringValue("option_file_name", "ipopt.opt");

  // Initialize the IpoptApplication and process the options
  ApplicationReturnStatus status;
  status = app->Initialize();
  if (status != Solve_Succeeded) {
    std::cout << std::endl
              << std::endl
              << "*** Error during initialization!" << std::endl;
    return (int)status;
  }

  // Ask Ipopt to solve the problems
  status = app->OptimizeTNLP(mynlp);

  if (status == Solve_Succeeded) {
    std::cout << std::endl
              << std::endl
              << "*** The problem solved!" << std::endl;
  } else {
    std::cout << std::endl
              << std::endl
              << "*** The problem FAILED!" << std::endl;
  }

  // As the SmartPtrs go out of scope, the reference count
  // will be decremented and the objects will automatically
  // be deleted.

  return (int)status;

  //return 0;
}