Add optional optimization logger support.

Author: Benjamin Chrétien

CMakeLists.txt

@@ -28,6 +28,8 @@ SET(${PROJECT_NAME}_HEADERS
 SETUP_PROJECT()
 
 # Declare dependencies
+SET(BOOST_COMPONENTS
+  date_time filesystem system thread program_options unit_test_framework)
 SEARCH_FOR_BOOST()
 SEARCH_FOR_QHULL()
 ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.2.0")

include/roboptim/capsule/fitter.hh

@@ -24,6 +24,8 @@
 #ifndef ROBOPTIM_CAPSULE_FITTER_HH
 # define ROBOPTIM_CAPSULE_FITTER_HH
 
+# include <boost/optional.hpp>
+
 # include <roboptim/core/solver-factory.hh>
 
 # include <roboptim/capsule/types.hh>
@@ -60,10 +62,14 @@ namespace roboptim
       value_type solutionVolume () const;
 
       /// \brief Get initial capsule parameters.
-      const argument_t initParam () const;
+      const argument_t& initParam () const;
 
       /// \brief Get solution capsule parameters.
-      const argument_t solutionParam () const;
+      const argument_t& solutionParam () const;
+
+      /// \brief Get the optional optimization log directory.
+      boost::optional<std::string>& logDirectory ();
+      const boost::optional<std::string>& logDirectory () const;
 
       /// \brief Compute best fitting capsule over polyhedron.
       ///
@@ -87,7 +93,7 @@ namespace roboptim
       ///
       /// \param initParam initial capsule parameters
       /// \return capsule parameters
-      const argument_t computeBestFitCapsuleParam (const_argument_ref
+      const argument_t& computeBestFitCapsuleParam (const_argument_ref
 						   initParam);
 
       /// \brief Compute best fitting capsule over polyhedron.
@@ -97,7 +103,7 @@ namespace roboptim
       ///
       /// \param initParam initial capsule parameters
       /// \return capsule parameters
-      const argument_t computeBestFitCapsuleParam (const polyhedrons_t&
+      const argument_t& computeBestFitCapsuleParam (const polyhedrons_t&
 						   polyhedrons,
 						   const_argument_ref
 						   initParam);
@@ -130,6 +136,9 @@ namespace roboptim
 
       /// \brief Nonlinear solver.
       std::string solver_;
+
+      /// \brief Optional optimization log directory.
+      boost::optional<std::string> logDir_;
     };
 
     /// \brief Print fitter after optimal capsule has been computed.

src/CMakeLists.txt

@@ -12,7 +12,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED
 
 SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
 
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${QHULL_LIBRARIES})
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${QHULL_LIBRARIES} boost_filesystem)
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} roboptim-core)
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} roboptim-core-plugin-ipopt)
 

src/capsule-generator.cc

@@ -43,6 +43,7 @@ int main(int argc, char** argv)
       desc.add_options ()
 	("help", "Print this help and exit")
 	("solver", po::value<std::string> (), "Nonlinear solver used")
+	("log-dir", po::value<std::string> (), "Path to optimization logs")
 	("points", po::value<std::vector<double> > ()->multitoken ()->required (),
 	 "Points that will be encapsulated");
 
@@ -110,6 +111,12 @@ int main(int argc, char** argv)
 	  // Create fitter
 	  Fitter fitter (polyhedrons, solver);
 
+	  // Load (optional) log directory
+	  if (vm.count ("log-dir"))
+	    {
+	      fitter.logDirectory () = vm["log-dir"].as<std::string> ();
+	    }
+
 	  // Compute initial guess
 	  point_t P0;
 	  point_t P1;

src/fitter.cc

@@ -28,8 +28,13 @@
 # include <math.h>
 # include <sstream>
 
+# include <boost/shared_ptr.hpp>
+# include <boost/make_shared.hpp>
+# include <boost/ref.hpp>
+
 # include <roboptim/core/finite-difference-gradient.hh>
 # include <roboptim/core/linear-function.hh>
+# include <roboptim/core/optimization-logger.hh>
 
 # include <roboptim/capsule/fitter.hh>
 
@@ -86,7 +91,7 @@ namespace roboptim
       return solutionVolume_;
     }
 
-    const argument_t Fitter::
+    const argument_t& Fitter::
     initParam () const
     {
       assert (initParam_.size () == 7
@@ -95,7 +100,7 @@ namespace roboptim
       return initParam_;
     }
 
-    const argument_t Fitter::
+    const argument_t& Fitter::
     solutionParam () const
     {
       assert (solutionParam_.size () == 7
@@ -104,6 +109,16 @@ namespace roboptim
       return solutionParam_;
     }
 
+    boost::optional<std::string>& Fitter::logDirectory ()
+    {
+      return logDir_;
+    }
+
+    const boost::optional<std::string>& Fitter::logDirectory () const
+    {
+      return logDir_;
+    }
+
     void Fitter::
     computeBestFitCapsule (const_argument_ref initParam)
     {
@@ -117,15 +132,15 @@ namespace roboptim
       impl_computeBestFitCapsuleParam (polyhedrons, initParam, solutionParam_);
     }
 
-    const argument_t Fitter::
+    const argument_t& Fitter::
     computeBestFitCapsuleParam (const_argument_ref initParam)
     {
       impl_computeBestFitCapsuleParam (polyhedrons_, initParam, solutionParam_);
 
       return solutionParam_;
     }
 
-    const argument_t Fitter::
+    const argument_t& Fitter::
     computeBestFitCapsuleParam (const polyhedrons_t& polyhedrons,
 				const_argument_ref initParam)
     {
@@ -210,6 +225,16 @@ namespace roboptim
       solver.parameters ()["ipopt.mu_strategy"].value = "adaptive";
       solver.parameters ()["ipopt.nlp_scaling_method"].value = "gradient-based";
 
+      // Set optimization logger if a log directory was provided.
+      // Note: actual logging to file is done once the OptimizationLogger is
+      // destroyed.
+      boost::shared_ptr<OptimizationLogger<solver_t> > logger;
+      if (logDir_)
+	{
+	  // Add optimization logger.
+	  logger = boost::make_shared<OptimizationLogger<solver_t> > (boost::ref (solver), *logDir_);
+	}
+
       // Solve problem and check if the optimum is correct.
       solver_t::result_t result = solver.minimum ();