Working version of #1410 Support nonlinearities in Gurobi

solvers/callgurobi.m

@@ -6,10 +6,11 @@
         interfacedata.options.gurobi = [];
     end
 end
-
+         
 options = interfacedata.options;
+% Keep track if we add variables to normalize SOCPs
 nOriginal = nnz(interfacedata.variabletype == 0);
-model = yalmip2gurobi(interfacedata);
+model = yalmip2gurobinonlinear(interfacedata);
 
 if interfacedata.options.savedebug
     save gurobidebug model

solvers/definesolvers.m

@@ -148,9 +148,10 @@
 solver(i).constraint.sos2 = 1;
 solver(i).supportsinitial = 1;
 solver(i).supportsinitialNAN = 1;
-solver(i).evaluation = 1;
 i = i+1;
 
+% The general nonlinear Gugobi definition is placed below fmincon
+
 solver(i) = qpsolver;
 solver(i).tag     = 'CPLEX';
 solver(i).version = 'IBM';
@@ -1640,6 +1641,30 @@
 solver(i).dual = 0;
 i = i+1;
 
+% Gurobi nonlinear solver is placed down here to make sure it is not
+% selected as a general nonlinear programming solver
+solver(i) = qpsolver;
+solver(i).tag     = 'GUROBI';
+solver(i).version = 'NONLINEAR';
+solver(i).checkfor= {'gurobi'};
+solver(i).call    = 'callgurobi';
+solver(i).objective.quadratic.nonconvex = 1;
+solver(i).objective.polynomial = 1;
+solver(i).constraint.inequalities.elementwise.quadratic.convex = 1;
+solver(i).constraint.inequalities.elementwise.quadratic.nonconvex = 1;
+solver(i).constraint.inequalities.elementwise.polynomial = 1;
+solver(i).constraint.equalities.quadratic = 1;
+solver(i).constraint.equalities.polynomial = 1;
+solver(i).constraint.inequalities.secondordercone.linear = 1;
+solver(i).constraint.integer = 1;
+solver(i).constraint.binary = 1;
+solver(i).constraint.semivar = 1;
+solver(i).constraint.sos2 = 1;
+solver(i).supportsinitial = 1;
+solver(i).supportsinitialNAN = 1;
+solver(i).evaluation = 1;
+i = i+1;
+
 % % ***************************************
 % % SOMEWHAT MORE COMPLEX DEFINITIONS OF
 % % THE INTERNAL MICP SOLVER