#include <distance_approach_ipopt_cuda_interface.h>

Inheritance diagram for apollo::planning::DistanceApproachIPOPTCUDAInterface:

Collaboration diagram for apollo::planning::DistanceApproachIPOPTCUDAInterface:

Public Member Functions
	DistanceApproachIPOPTCUDAInterface (const size_t horizon, const double ts, const Eigen::MatrixXd &ego, const Eigen::MatrixXd &xWS, const Eigen::MatrixXd &uWS, const Eigen::MatrixXd &l_warm_up, const Eigen::MatrixXd &n_warm_up, const Eigen::MatrixXd &x0, const Eigen::MatrixXd &xf, const Eigen::MatrixXd &last_time_u, const std::vector< double > &XYbounds, const Eigen::MatrixXi &obstacles_edges_num, const size_t obstacles_num, const Eigen::MatrixXd &obstacles_A, const Eigen::MatrixXd &obstacles_b, const PlannerOpenSpaceConfig &planner_open_space_config)

virtual	~DistanceApproachIPOPTCUDAInterface ()=default

bool	get_nlp_info (int &n, int &m, int &nnz_jac_g, int &nnz_h_lag, IndexStyleEnum &index_style) override

bool	get_bounds_info (int n, double x_l, double x_u, int m, double g_l, double g_u) override

bool	get_starting_point (int n, bool init_x, double x, bool init_z, double z_L, double z_U, int m, bool init_lambda, double lambda) override

bool	eval_f (int n, const double *x, bool new_x, double &obj_value) override

bool	eval_grad_f (int n, const double x, bool new_x, double grad_f) override

bool	eval_grad_f_hand (int n, const double x, bool new_x, double grad_f)

bool	eval_g (int n, const double x, bool new_x, int m, double g) override

bool	check_g (int n, const double x, int m, const double g)

bool	eval_jac_g (int n, const double x, bool new_x, int m, int nele_jac, int iRow, int jCol, double values) override

bool	eval_jac_g_ser (int n, const double x, bool new_x, int m, int nele_jac, int iRow, int jCol, double values)

bool	eval_jac_g_par (int n, const double x, bool new_x, int m, int nele_jac, int iRow, int jCol, double values)

bool	eval_h (int n, const double x, bool new_x, double obj_factor, int m, const double lambda, bool new_lambda, int nele_hess, int iRow, int jCol, double *values) override

Public Member Functions inherited from apollo::planning::DistanceApproachInterface
virtual	~DistanceApproachInterface ()=default

Solution Methods
void	finalize_solution (Ipopt::SolverReturn status, int n, const double x, const double z_L, const double z_U, int m, const double g, const double lambda, double obj_value, const Ipopt::IpoptData ip_data, Ipopt::IpoptCalculatedQuantities *ip_cq) override

void	get_optimization_results (Eigen::MatrixXd state_result, Eigen::MatrixXd control_result, Eigen::MatrixXd time_result, Eigen::MatrixXd dual_l_result, Eigen::MatrixXd *dual_n_result) const

template<class T >
bool	eval_obj (int n, const T x, T obj_value)

template<class T >
bool	eval_constraints (int n, const T x, int m, T g)

void	generate_tapes (int n, int m, int *nnz_h_lag)

Constructor & Destructor Documentation

◆ DistanceApproachIPOPTCUDAInterface()

apollo::planning::DistanceApproachIPOPTCUDAInterface::DistanceApproachIPOPTCUDAInterface	(	const size_t	horizon,
		const double	ts,
		const Eigen::MatrixXd &	ego,
		const Eigen::MatrixXd &	xWS,
		const Eigen::MatrixXd &	uWS,
		const Eigen::MatrixXd &	l_warm_up,
		const Eigen::MatrixXd &	n_warm_up,
		const Eigen::MatrixXd &	x0,
		const Eigen::MatrixXd &	xf,
		const Eigen::MatrixXd &	last_time_u,
		const std::vector< double > &	XYbounds,
		const Eigen::MatrixXi &	obstacles_edges_num,
		const size_t	obstacles_num,
		const Eigen::MatrixXd &	obstacles_A,
		const Eigen::MatrixXd &	obstacles_b,
		const PlannerOpenSpaceConfig &	planner_open_space_config
	)

◆ ~DistanceApproachIPOPTCUDAInterface()

virtual apollo::planning::DistanceApproachIPOPTCUDAInterface::~DistanceApproachIPOPTCUDAInterface ( )

virtualdefault

Member Function Documentation

◆ check_g()

bool apollo::planning::DistanceApproachIPOPTCUDAInterface::check_g	(	int	n,
		const double *	x,
		int	m,
		const double *	g
	)

virtual

Check unfeasible constraints for further study

Implements apollo::planning::DistanceApproachInterface.

◆ eval_constraints()

template<class T >

bool apollo::planning::DistanceApproachIPOPTCUDAInterface::eval_constraints	(	int	n,
		const T *	x,
		int	m,
		T *	g
	)

Template to compute constraints

◆ eval_f()

bool apollo::planning::DistanceApproachIPOPTCUDAInterface::eval_f	(	int	n,
		const double *	x,
		bool	new_x,
		double &	obj_value
	)

overridevirtual

Method to return the objective value

Implements apollo::planning::DistanceApproachInterface.

◆ eval_g()

bool apollo::planning::DistanceApproachIPOPTCUDAInterface::eval_g	(	int	n,
		const double *	x,
		bool	new_x,
		int	m,
		double *	g
	)

overridevirtual

Method to return the constraint residuals

Implements apollo::planning::DistanceApproachInterface.

◆ eval_grad_f()

bool apollo::planning::DistanceApproachIPOPTCUDAInterface::eval_grad_f	(	int	n,
		const double *	x,
		bool	new_x,
		double *	grad_f
	)

overridevirtual

Method to return the gradient of the objective

Implements apollo::planning::DistanceApproachInterface.

◆ eval_grad_f_hand()

bool apollo::planning::DistanceApproachIPOPTCUDAInterface::eval_grad_f_hand	(	int	n,
		const double *	x,
		bool	new_x,
		double *	grad_f
	)

◆ eval_h()

bool apollo::planning::DistanceApproachIPOPTCUDAInterface::eval_h	(	int	n,
		const double *	x,
		bool	new_x,
		double	obj_factor,
		int	m,
		const double *	lambda,
		bool	new_lambda,
		int	nele_hess,
		int *	iRow,
		int *	jCol,
		double *	values
	)

overridevirtual

Method to return: 1) The structure of the hessian of the lagrangian (if "values" is nullptr) 2) The values of the hessian of the lagrangian (if "values" is not nullptr)

Implements apollo::planning::DistanceApproachInterface.

◆ eval_jac_g()

bool apollo::planning::DistanceApproachIPOPTCUDAInterface::eval_jac_g	(	int	n,
		const double *	x,
		bool	new_x,
		int	m,
		int	nele_jac,
		int *	iRow,
		int *	jCol,
		double *	values
	)

overridevirtual

Method to return: 1) The structure of the jacobian (if "values" is nullptr) 2) The values of the jacobian (if "values" is not nullptr)

Implements apollo::planning::DistanceApproachInterface.

◆ eval_jac_g_par()

bool apollo::planning::DistanceApproachIPOPTCUDAInterface::eval_jac_g_par	(	int	n,
		const double *	x,
		bool	new_x,
		int	m,
		int	nele_jac,
		int *	iRow,
		int *	jCol,
		double *	values
	)

◆ eval_jac_g_ser()

bool apollo::planning::DistanceApproachIPOPTCUDAInterface::eval_jac_g_ser	(	int	n,
		const double *	x,
		bool	new_x,
		int	m,
		int	nele_jac,
		int *	iRow,
		int *	jCol,
		double *	values
	)

virtual

Implements apollo::planning::DistanceApproachInterface.

◆ eval_obj()

template<class T >

bool apollo::planning::DistanceApproachIPOPTCUDAInterface::eval_obj	(	int	n,
		const T *	x,
		T *	obj_value
	)

Template to return the objective value

◆ finalize_solution()

void apollo::planning::DistanceApproachIPOPTCUDAInterface::finalize_solution	(	Ipopt::SolverReturn	status,
		int	n,
		const double *	x,
		const double *	z_L,
		const double *	z_U,
		int	m,
		const double *	g,
		const double *	lambda,
		double	obj_value,
		const Ipopt::IpoptData *	ip_data,
		Ipopt::IpoptCalculatedQuantities *	ip_cq
	)

overridevirtual

This method is called when the algorithm is complete so the TNLP can store/write the solution

Implements apollo::planning::DistanceApproachInterface.

◆ generate_tapes()

void apollo::planning::DistanceApproachIPOPTCUDAInterface::generate_tapes	(	int	n,
		int	m,
		int *	nnz_h_lag
	)

Method to generate the required tapes by ADOL-C

◆ get_bounds_info()

bool apollo::planning::DistanceApproachIPOPTCUDAInterface::get_bounds_info	(	int	n,
		double *	x_l,
		double *	x_u,
		int	m,
		double *	g_l,
		double *	g_u
	)

overridevirtual

Method to return the bounds for my problem

Implements apollo::planning::DistanceApproachInterface.

◆ get_nlp_info()

bool apollo::planning::DistanceApproachIPOPTCUDAInterface::get_nlp_info	(	int &	n,
		int &	m,
		int &	nnz_jac_g,
		int &	nnz_h_lag,
		IndexStyleEnum &	index_style
	)

overridevirtual

Method to return some info about the nlp

Implements apollo::planning::DistanceApproachInterface.

◆ get_optimization_results()

void apollo::planning::DistanceApproachIPOPTCUDAInterface::get_optimization_results	(	Eigen::MatrixXd *	state_result,
		Eigen::MatrixXd *	control_result,
		Eigen::MatrixXd *	time_result,
		Eigen::MatrixXd *	dual_l_result,
		Eigen::MatrixXd *	dual_n_result
	)		const

virtual

Implements apollo::planning::DistanceApproachInterface.

◆ get_starting_point()

bool apollo::planning::DistanceApproachIPOPTCUDAInterface::get_starting_point	(	int	n,
		bool	init_x,
		double *	x,
		bool	init_z,
		double *	z_L,
		double *	z_U,
		int	m,
		bool	init_lambda,
		double *	lambda
	)

overridevirtual

Method to return the starting point for the algorithm

Implements apollo::planning::DistanceApproachInterface.

The documentation for this class was generated from the following file:

modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_cuda_interface.h

Public Member Functions

Solution Methods

Constructor & Destructor Documentation

◆ DistanceApproachIPOPTCUDAInterface()

◆ ~DistanceApproachIPOPTCUDAInterface()

Member Function Documentation

◆ check_g()

◆ eval_constraints()

◆ eval_f()

◆ eval_g()

◆ eval_grad_f()

◆ eval_grad_f_hand()

◆ eval_h()

◆ eval_jac_g()

◆ eval_jac_g_par()

◆ eval_jac_g_ser()

◆ eval_obj()

◆ finalize_solution()

◆ generate_tapes()

◆ get_bounds_info()

◆ get_nlp_info()

◆ get_optimization_results()

◆ get_starting_point()