1 /* Copyright (c) 2007-2011 Massachusetts Institute of Technology
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9 * the following conditions:
11 * The above copyright notice and this permission notice shall be
12 * included in all copies or substantial portions of the Software.
14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
15 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
16 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
17 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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20 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 /* Matlab MEX interface to NLopt, and in particular to nlopt_optimize */
33 #define CHECK0(cond, msg) if (!(cond)) mexErrMsgTxt(msg);
35 static double struct_val_default(const mxArray *s, const char *name, double dflt)
37 mxArray *val = mxGetField(s, 0, name);
39 CHECK0(mxIsNumeric(val) && !mxIsComplex(val)
40 && mxGetM(val) * mxGetN(val) == 1,
41 "opt fields, other than xtol_abs, must be real scalars");
42 return mxGetScalar(val);
47 static double *struct_arrval(const mxArray *s, const char *name, unsigned n,
50 mxArray *val = mxGetField(s, 0, name);
52 CHECK0(mxIsNumeric(val) && !mxIsComplex(val)
53 && mxGetM(val) * mxGetN(val) == n,
54 "opt vector field is not of length n");
60 static mxArray *struct_funcval(const mxArray *s, const char *name)
62 mxArray *val = mxGetField(s, 0, name);
64 CHECK0(mxIsChar(val) || mxIsFunctionHandle(val),
65 "opt function field is not a function handle/name");
71 static double *fill(double *arr, unsigned n, double val)
74 for (i = 0; i < n; ++i) arr[i] = val;
78 #define FLEN 128 /* max length of user function name */
79 #define MAXRHS 3 /* max nrhs for user function */
80 typedef struct user_function_data_s {
83 mxArray *prhs[MAXRHS];
86 struct user_function_data_s *dpre;
89 static double user_function(unsigned n, const double *x,
90 double *gradient, /* NULL if not needed */
93 user_function_data *d = (user_function_data *) d_;
96 d->plhs[0] = d->plhs[1] = NULL;
97 memcpy(mxGetPr(d->prhs[d->xrhs]), x, n * sizeof(double));
99 CHECK0(0 == mexCallMATLAB(gradient ? 2 : 1, d->plhs,
100 d->nrhs, d->prhs, d->f),
101 "error calling user function");
103 CHECK0(mxIsNumeric(d->plhs[0]) && !mxIsComplex(d->plhs[0])
104 && mxGetM(d->plhs[0]) * mxGetN(d->plhs[0]) == 1,
105 "user function must return real scalar");
106 f = mxGetScalar(d->plhs[0]);
107 mxDestroyArray(d->plhs[0]);
109 CHECK0(mxIsDouble(d->plhs[1]) && !mxIsComplex(d->plhs[1])
110 && (mxGetM(d->plhs[1]) == 1 || mxGetN(d->plhs[1]) == 1)
111 && mxGetM(d->plhs[1]) * mxGetN(d->plhs[1]) == n,
112 "gradient vector from user function is the wrong size");
113 memcpy(gradient, mxGetPr(d->plhs[1]), n * sizeof(double));
114 mxDestroyArray(d->plhs[1]);
117 if (d->verbose) mexPrintf("nlopt_optimize eval #%d: %g\n", d->neval, f);
121 static void user_pre(unsigned n, const double *x, const double *v,
122 double *vpre, void *d_)
124 user_function_data *d = ((user_function_data *) d_)->dpre;
125 d->plhs[0] = d->plhs[1] = NULL;
126 memcpy(mxGetPr(d->prhs[d->xrhs]), x, n * sizeof(double));
127 memcpy(mxGetPr(d->prhs[d->xrhs + 1]), v, n * sizeof(double));
129 CHECK0(0 == mexCallMATLAB(1, d->plhs,
130 d->nrhs, d->prhs, d->f),
131 "error calling user function");
133 CHECK0(mxIsDouble(d->plhs[0]) && !mxIsComplex(d->plhs[0])
134 && (mxGetM(d->plhs[0]) == 1 || mxGetN(d->plhs[0]) == 1)
135 && mxGetM(d->plhs[0]) * mxGetN(d->plhs[0]) == n,
136 "vpre vector from user function is the wrong size");
137 memcpy(vpre, mxGetPr(d->plhs[0]), n * sizeof(double));
138 mxDestroyArray(d->plhs[0]);
140 if (d->verbose) mexPrintf("nlopt_optimize precond eval #%d\n", d->neval);
143 #define CHECK1(cond, msg) if (!(cond)) { mxFree(tmp); nlopt_destroy(opt); nlopt_destroy(local_opt); mexWarnMsgTxt(msg); return NULL; };
145 nlopt_opt make_opt(const mxArray *opts, unsigned n)
147 nlopt_opt opt = NULL, local_opt = NULL;
148 nlopt_algorithm algorithm;
152 algorithm = (nlopt_algorithm)
153 struct_val_default(opts, "algorithm", NLOPT_NUM_ALGORITHMS);
154 CHECK1(((int)algorithm) >= 0 && algorithm < NLOPT_NUM_ALGORITHMS,
155 "invalid opt.algorithm");
157 tmp = (double *) mxCalloc(n, sizeof(double));
158 opt = nlopt_create(algorithm, n);
159 CHECK1(opt, "nlopt: out of memory");
161 nlopt_set_lower_bounds(opt, struct_arrval(opts, "lower_bounds", n,
162 fill(tmp, n, -HUGE_VAL)));
163 nlopt_set_upper_bounds(opt, struct_arrval(opts, "upper_bounds", n,
164 fill(tmp, n, +HUGE_VAL)));
166 nlopt_set_stopval(opt, struct_val_default(opts, "stopval", -HUGE_VAL));
167 nlopt_set_ftol_rel(opt, struct_val_default(opts, "ftol_rel", 0.0));
168 nlopt_set_ftol_abs(opt, struct_val_default(opts, "ftol_abs", 0.0));
169 nlopt_set_xtol_rel(opt, struct_val_default(opts, "xtol_rel", 0.0));
170 nlopt_set_xtol_abs(opt, struct_arrval(opts, "xtol_abs", n,
172 nlopt_set_maxeval(opt, struct_val_default(opts, "maxeval", 0.0) < 0 ?
173 0 : struct_val_default(opts, "maxeval", 0.0));
174 nlopt_set_maxtime(opt, struct_val_default(opts, "maxtime", 0.0));
176 nlopt_set_population(opt, struct_val_default(opts, "population", 0));
177 nlopt_set_vector_storage(opt, struct_val_default(opts, "vector_storage", 0));
179 if (struct_arrval(opts, "initial_step", n, NULL))
180 nlopt_set_initial_step(opt,
181 struct_arrval(opts, "initial_step", n, NULL));
183 if (mxGetField(opts, 0, "local_optimizer")) {
184 const mxArray *local_opts = mxGetField(opts, 0, "local_optimizer");
185 CHECK1(mxIsStruct(local_opts),
186 "opt.local_optimizer must be a structure");
187 CHECK1(local_opt = make_opt(local_opts, n),
188 "error initializing local optimizer");
189 nlopt_set_local_optimizer(opt, local_opt);
190 nlopt_destroy(local_opt); local_opt = NULL;
197 #define CHECK(cond, msg) if (!(cond)) { mxFree(dh); mxFree(dfc); nlopt_destroy(opt); mexErrMsgTxt(msg); }
199 void mexFunction(int nlhs, mxArray *plhs[],
200 int nrhs, const mxArray *prhs[])
203 double *x, *x0, opt_f;
206 user_function_data d, dpre, *dfc = NULL, *dh = NULL;
207 nlopt_opt opt = NULL;
209 CHECK(nrhs == 2 && nlhs <= 3, "wrong number of arguments");
211 /* options = prhs[0] */
212 CHECK(mxIsStruct(prhs[0]), "opt must be a struct");
215 CHECK(mxIsDouble(prhs[1]) && !mxIsComplex(prhs[1])
216 && (mxGetM(prhs[1]) == 1 || mxGetN(prhs[1]) == 1),
217 "x must be real row or column vector");
218 n = mxGetM(prhs[1]) * mxGetN(prhs[1]),
219 x0 = mxGetPr(prhs[1]);
221 CHECK(opt = make_opt(prhs[0], n), "error initializing nlopt options");
224 d.verbose = (int) struct_val_default(prhs[0], "verbose", 0);
226 /* function f = prhs[1] */
227 mx = struct_funcval(prhs[0], "min_objective");
228 if (!mx) mx = struct_funcval(prhs[0], "max_objective");
229 CHECK(mx, "either opt.min_objective or opt.max_objective must exist");
231 CHECK(mxGetString(mx, d.f, FLEN) == 0,
232 "error reading function name string (too long?)");
238 strcpy(d.f, "feval");
242 d.prhs[d.xrhs] = mxCreateDoubleMatrix(1, n, mxREAL);
244 if ((mx = struct_funcval(prhs[0], "pre"))) {
245 CHECK(mxIsChar(mx) || mxIsFunctionHandle(mx),
246 "pre must contain function handles or function names");
248 CHECK(mxGetString(mx, dpre.f, FLEN) == 0,
249 "error reading function name string (too long?)");
255 strcpy(dpre.f, "feval");
259 dpre.verbose = d.verbose > 2;
261 dpre.prhs[dpre.xrhs] = d.prhs[d.xrhs];
262 dpre.prhs[d.xrhs+1] = mxCreateDoubleMatrix(1, n, mxREAL);
265 if (struct_funcval(prhs[0], "min_objective"))
266 nlopt_set_precond_min_objective(opt, user_function,user_pre,&d);
268 nlopt_set_precond_max_objective(opt, user_function,user_pre,&d);
272 if (struct_funcval(prhs[0], "min_objective"))
273 nlopt_set_min_objective(opt, user_function, &d);
275 nlopt_set_max_objective(opt, user_function, &d);
278 if ((mx = mxGetField(prhs[0], 0, "fc"))) {
282 CHECK(mxIsCell(mx), "fc must be a Cell array");
283 m = mxGetM(mx) * mxGetN(mx);;
284 dfc = (user_function_data *) mxCalloc(m, sizeof(user_function_data));
285 fc_tol = struct_arrval(prhs[0], "fc_tol", m, NULL);
287 for (j = 0; j < m; ++j) {
288 mxArray *fc = mxGetCell(mx, j);
289 CHECK(mxIsChar(fc) || mxIsFunctionHandle(fc),
290 "fc must contain function handles or function names");
292 CHECK(mxGetString(fc, dfc[j].f, FLEN) == 0,
293 "error reading function name string (too long?)");
299 strcpy(dfc[j].f, "feval");
303 dfc[j].verbose = d.verbose > 1;
305 dfc[j].prhs[dfc[j].xrhs] = d.prhs[d.xrhs];
306 CHECK(nlopt_add_inequality_constraint(opt, user_function,
308 fc_tol ? fc_tol[j] : 0)
309 > 0, "nlopt error adding inequality constraint");
314 if ((mx = mxGetField(prhs[0], 0, "h"))) {
318 CHECK(mxIsCell(mx), "h must be a Cell array");
319 m = mxGetM(mx) * mxGetN(mx);;
320 dh = (user_function_data *) mxCalloc(m, sizeof(user_function_data));
321 h_tol = struct_arrval(prhs[0], "h_tol", m, NULL);
323 for (j = 0; j < m; ++j) {
324 mxArray *h = mxGetCell(mx, j);
325 CHECK(mxIsChar(h) || mxIsFunctionHandle(h),
326 "h must contain function handles or function names");
328 CHECK(mxGetString(h, dh[j].f, FLEN) == 0,
329 "error reading function name string (too long?)");
335 strcpy(dh[j].f, "feval");
339 dh[j].verbose = d.verbose > 1;
341 dh[j].prhs[dh[j].xrhs] = d.prhs[d.xrhs];
342 CHECK(nlopt_add_equality_constraint(opt, user_function,
344 h_tol ? h_tol[j] : 0)
345 > 0, "nlopt error adding equality constraint");
350 x_mx = mxCreateDoubleMatrix(mxGetM(prhs[1]), mxGetN(prhs[1]), mxREAL);
352 memcpy(x, x0, sizeof(double) * n);
354 ret = nlopt_optimize(opt, x, &opt_f);
358 mxDestroyArray(d.prhs[d.xrhs]);
359 if (dpre.nrhs > 0) mxDestroyArray(dpre.prhs[d.xrhs+1]);
364 plhs[1] = mxCreateDoubleMatrix(1, 1, mxREAL);
365 *(mxGetPr(plhs[1])) = opt_f;
368 plhs[2] = mxCreateDoubleMatrix(1, 1, mxREAL);
369 *(mxGetPr(plhs[2])) = (int) ret;