#include <distance_approach_interface.h>

Inheritance diagram for apollo::planning::DistanceApproachInterface:

Collaboration diagram for apollo::planning::DistanceApproachInterface:

Public Member Functions
virtual	~DistanceApproachInterface ()=default

virtual bool	get_nlp_info (int &n, int &m, int &nnz_jac_g, int &nnz_h_lag, IndexStyleEnum &index_style)=0

virtual bool	get_bounds_info (int n, double x_l, double x_u, int m, double g_l, double g_u)=0

virtual 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)=0

virtual bool	eval_f (int n, const double *x, bool new_x, double &obj_value)=0

virtual bool	eval_grad_f (int n, const double x, bool new_x, double grad_f)=0

virtual bool	eval_g (int n, const double x, bool new_x, int m, double g)=0

virtual bool	check_g (int n, const double x, int m, const double g)=0

virtual bool	eval_jac_g (int n, const double x, bool new_x, int m, int nele_jac, int iRow, int jCol, double values)=0

virtual bool	eval_jac_g_ser (int n, const double x, bool new_x, int m, int nele_jac, int iRow, int jCol, double values)=0

virtual 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)=0

Solution Methods
virtual 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)=0

virtual 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 =0

Constructor & Destructor Documentation

◆ ~DistanceApproachInterface()

virtual apollo::planning::DistanceApproachInterface::~DistanceApproachInterface ( )

virtualdefault

Member Function Documentation

◆ check_g()

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

pure virtual

Check unfeasible constraints for further study

Implemented in apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface, apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, and apollo::planning::DistanceApproachIPOPTInterface.

◆ eval_f()

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

pure virtual

Method to return the objective value

Implemented in apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, and apollo::planning::DistanceApproachIPOPTCUDAInterface.

◆ eval_g()

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

pure virtual

Method to return the constraint residuals

Implemented in apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface, apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, and apollo::planning::DistanceApproachIPOPTInterface.

◆ eval_grad_f()

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

pure virtual

Method to return the gradient of the objective

Implemented in apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, and apollo::planning::DistanceApproachIPOPTCUDAInterface.

◆ eval_h()

virtual bool apollo::planning::DistanceApproachInterface::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
	)

pure virtual

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)

Implemented in apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, and apollo::planning::DistanceApproachIPOPTInterface.

◆ eval_jac_g()

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

pure virtual

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

Implemented in apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface, apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, and apollo::planning::DistanceApproachIPOPTInterface.

◆ eval_jac_g_ser()

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

pure virtual

Implemented in apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, and apollo::planning::DistanceApproachIPOPTCUDAInterface.

◆ finalize_solution()

virtual void apollo::planning::DistanceApproachInterface::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
	)

pure virtual

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

Implemented in apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, and apollo::planning::DistanceApproachIPOPTInterface.

◆ get_bounds_info()

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

pure virtual

Method to return the bounds for my problem

Implemented in apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, and apollo::planning::DistanceApproachIPOPTCUDAInterface.

◆ get_nlp_info()

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

pure virtual

Method to return some info about the nlp

Implemented in apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, and apollo::planning::DistanceApproachIPOPTCUDAInterface.

◆ get_optimization_results()

virtual void apollo::planning::DistanceApproachInterface::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

pure virtual

Implemented in apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, and apollo::planning::DistanceApproachIPOPTInterface.

◆ get_starting_point()

virtual bool apollo::planning::DistanceApproachInterface::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
	)

pure virtual

Method to return the starting point for the algorithm

Implemented in apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, and apollo::planning::DistanceApproachIPOPTCUDAInterface.

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

modules/planning/open_space/trajectory_smoother/distance_approach_interface.h

Public Member Functions

Constructor & Destructor Documentation

◆ ~DistanceApproachInterface()

Member Function Documentation

◆ check_g()

◆ eval_f()

◆ eval_g()

◆ eval_grad_f()

◆ eval_h()

◆ eval_jac_g()

◆ eval_jac_g_ser()

◆ finalize_solution()

◆ get_bounds_info()

◆ get_nlp_info()

◆ get_optimization_results()

◆ get_starting_point()