Merge 6.9.5 to master (dartsim#1517)

reverted two changes to make patch easier to apply Co-authored-by: Grey <[email protected]> Co-authored-by: Steve Peters <[email protected]>
scpeters · Oct 27, 2020 · d8500b7 · d8500b7
1 parent 836421c
commit d8500b7
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Showing 4 changed files with 67 additions and 6 deletions.
diff --git a/dart/optimizer/ipopt/BackwardCompatibility.hpp b/dart/optimizer/ipopt/BackwardCompatibility.hpp
@@ -0,0 +1,43 @@
+/*
+ * Copyright (c) 2011-2019, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_OPTIMIZER_IPOPT_BACKWARDCOMPATIBILITY_HPP_
+#define DART_OPTIMIZER_IPOPT_BACKWARDCOMPATIBILITY_HPP_
+
+// clang-format off
+#define IPOPT_VERSION_GE(x,y,z) \
+  (IPOPT_VERSION_MAJOR > x || (IPOPT_VERSION_MAJOR >= x && \
+  (IPOPT_VERSION_MINOR > y || (IPOPT_VERSION_MINOR >= y && \
+  IPOPT_VERSION_PATCH >= z))))
+// clang-format on
+
+#endif // DART_OPTIMIZER_IPOPT_BACKWARDCOMPATIBILITY_HPP_
diff --git a/dart/optimizer/ipopt/CMakeLists.txt b/dart/optimizer/ipopt/CMakeLists.txt
@@ -28,6 +28,18 @@ dart_generate_include_header_file(
   ${header_names}
 )
 
+# Add definitions for the IpOpt version
+string(REPLACE "." ";" ipopt_version_list ${IPOPT_VERSION})
+list(GET ipopt_version_list 0 IPOPT_VERSION_MAJOR)
+list(GET ipopt_version_list 1 IPOPT_VERSION_MINOR)
+list(GET ipopt_version_list 2 IPOPT_VERSION_PATCH)
+target_compile_definitions(${target_name}
+  PUBLIC
+    IPOPT_VERSION_MAJOR=${IPOPT_VERSION_MAJOR}
+    IPOPT_VERSION_MINOR=${IPOPT_VERSION_MINOR}
+    IPOPT_VERSION_PATCH=${IPOPT_VERSION_PATCH}
+)
+
 # Install
 install(
   FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/ipopt.hpp

diff --git a/dart/optimizer/ipopt/IpoptSolver.cpp b/dart/optimizer/ipopt/IpoptSolver.cpp
@@ -84,12 +84,12 @@ bool IpoptSolver::solve()
   std::size_t freq = mProperties.mIterationsPerPrint;
   if (freq > 0)
   {
-    mIpoptApp->Options()->SetNumericValue("print_frequency_iter", freq);
+    mIpoptApp->Options()->SetIntegerValue("print_frequency_iter", freq);
   }
   else
   {
-    mIpoptApp->Options()->SetNumericValue(
-        "print_frequency_iter", std::numeric_limits<int>::infinity());
+    mIpoptApp->Options()->SetIntegerValue(
+        "print_frequency_iter", std::numeric_limits<int>::max());
   }
 
   // Intialize the IpoptApplication and process the options

diff --git a/dart/optimizer/ipopt/IpoptSolver.hpp b/dart/optimizer/ipopt/IpoptSolver.hpp
@@ -33,11 +33,17 @@
 #ifndef DART_OPTIMIZER_IPOPT_IPOPTSOLVER_HPP_
 #define DART_OPTIMIZER_IPOPT_IPOPTSOLVER_HPP_
 
-#include <coin/IpIpoptApplication.hpp>
-#include <coin/IpTNLP.hpp>
-
 #include <memory>
 
+#include "dart/optimizer/ipopt/BackwardCompatibility.hpp"
+#if IPOPT_VERSION_GE(3, 13, 0)
+#  include <IpIpoptApplication.hpp>
+#  include <IpTNLP.hpp>
+#else
+#  include <coin/IpIpoptApplication.hpp>
+#  include <coin/IpTNLP.hpp>
+#endif
+
 #include "dart/optimizer/Solver.hpp"
 
 namespace dart {