Add cost to solver status (#498)

SleipnirGroup · Apr 10, 2024 · 37487e5 · 37487e5
1 parent 80f69af
commit 37487e5
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Showing 4 changed files with 11 additions and 2 deletions.
diff --git a/include/sleipnir/optimization/SolverStatus.hpp b/include/sleipnir/optimization/SolverStatus.hpp
@@ -24,6 +24,9 @@ struct SLEIPNIR_DLLEXPORT SolverStatus {
 
   /// The solver's exit condition.
   SolverExitCondition exitCondition = SolverExitCondition::kSuccess;
+
+  /// The solution's cost.
+  double cost = 0.0;
 };
 
 }  // namespace sleipnir
diff --git a/jormungandr/cpp/Docstrings.hpp b/jormungandr/cpp/Docstrings.hpp
@@ -941,6 +941,8 @@ static const char *__doc_sleipnir_SolverStatus =
 R"doc(Return value of OptimizationProblem::Solve() containing the cost
 function and constraint types and solver's exit condition.)doc";
 
+static const char *__doc_sleipnir_SolverStatus_cost = R"doc(The solution's cost.)doc";
+
 static const char *__doc_sleipnir_SolverStatus_costFunctionType = R"doc(The cost function type detected by the solver.)doc";
 
 static const char *__doc_sleipnir_SolverStatus_equalityConstraintType = R"doc(The equality constraint type detected by the solver.)doc";

diff --git a/jormungandr/cpp/optimization/BindSolverStatus.cpp b/jormungandr/cpp/optimization/BindSolverStatus.cpp
@@ -16,11 +16,11 @@ void BindSolverStatus(py::module_& optimization) {
                                DOC(sleipnir, SolverStatus)};
   cls.def(py::init<>());
   cls.def(py::init<ExpressionType, ExpressionType, ExpressionType,
-                   SolverExitCondition>(),
+                   SolverExitCondition, double>(),
           "cost_function_type"_a = ExpressionType::kNone,
           "equality_constraint_type"_a = ExpressionType::kNone,
           "inequality_constraint_type"_a = ExpressionType::kNone,
-          "exit_condition"_a = SolverExitCondition::kSuccess);
+          "exit_condition"_a = SolverExitCondition::kSuccess, "cost"_a = 0.0);
   cls.def_readwrite("cost_function_type", &SolverStatus::costFunctionType,
                     DOC(sleipnir, SolverStatus, costFunctionType));
   cls.def_readwrite("equality_constraint_type",
@@ -31,6 +31,8 @@ void BindSolverStatus(py::module_& optimization) {
                     DOC(sleipnir, SolverStatus, inequalityConstraintType));
   cls.def_readwrite("exit_condition", &SolverStatus::exitCondition,
                     DOC(sleipnir, SolverStatus, exitCondition));
+  cls.def_readwrite("cost", &SolverStatus::cost,
+                    DOC(sleipnir, SolverStatus, cost));
 }
 
 }  // namespace sleipnir
diff --git a/src/optimization/solver/InteriorPoint.cpp b/src/optimization/solver/InteriorPoint.cpp
@@ -143,6 +143,8 @@ void InteriorPoint(
 
   // Prints final diagnostics when the solver exits
   scope_exit exit{[&] {
+    status->cost = f.Value();
+
     if (config.diagnostics && !feasibilityRestoration) {
       auto solveEndTime = std::chrono::system_clock::now();