apollo::planning::DualVariableWarmStartIPOPTQPInterface Class Reference

#include <dual_variable_warm_start_ipopt_qp_interface.h>

Inheritance diagram for apollo::planning::DualVariableWarmStartIPOPTQPInterface:

Collaboration diagram for apollo::planning::DualVariableWarmStartIPOPTQPInterface:

Public Member Functions
	DualVariableWarmStartIPOPTQPInterface (size_t horizon, double ts, const Eigen::MatrixXd &ego, const Eigen::MatrixXi &obstacles_edges_num, const size_t obstacles_num, const Eigen::MatrixXd &obstacles_A, const Eigen::MatrixXd &obstacles_b, const Eigen::MatrixXd &xWS, const PlannerOpenSpaceConfig &planner_open_space_config)
virtual	~DualVariableWarmStartIPOPTQPInterface ()=default
void	get_optimization_results (Eigen::MatrixXd *l_warm_up, Eigen::MatrixXd *n_warm_up) const
void	check_solution (const Eigen::MatrixXd &l_warm_up, const Eigen::MatrixXd &n_warm_up)
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_g (int n, const double *x, bool new_x, int m, double *g) override
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_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

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
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

DualVariableWarmStartIPOPTQPInterface()

apollo::planning::DualVariableWarmStartIPOPTQPInterface::DualVariableWarmStartIPOPTQPInterface	(	size_t	horizon,
		double	ts,
		const Eigen::MatrixXd &	ego,
		const Eigen::MatrixXi &	obstacles_edges_num,
		const size_t	obstacles_num,
		const Eigen::MatrixXd &	obstacles_A,
		const Eigen::MatrixXd &	obstacles_b,
		const Eigen::MatrixXd &	xWS,
		const PlannerOpenSpaceConfig &	planner_open_space_config
	)

~DualVariableWarmStartIPOPTQPInterface()

virtual apollo::planning::DualVariableWarmStartIPOPTQPInterface::~DualVariableWarmStartIPOPTQPInterface ( )

virtualdefault

Member Function Documentation

check_solution()

void apollo::planning::DualVariableWarmStartIPOPTQPInterface::check_solution	(	const Eigen::MatrixXd &	l_warm_up,
		const Eigen::MatrixXd &	n_warm_up
	)

eval_constraints()

template<class T >

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

Template to compute constraints

eval_f()

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

override

Method to return the objective value

eval_g()

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

override

Method to return the constraint residuals

eval_grad_f()

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

override

Method to return the gradient of the objective

eval_h()

bool apollo::planning::DualVariableWarmStartIPOPTQPInterface::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

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)

eval_jac_g()

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

override

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

eval_obj()

template<class T >

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

Template to return the objective value

finalize_solution()

void apollo::planning::DualVariableWarmStartIPOPTQPInterface::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

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

generate_tapes()

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

Method to generate the required tapes

get_bounds_info()

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

override

Method to return the bounds for my problem

get_nlp_info()

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

override

Method to return some info about the nlp

get_optimization_results()

void apollo::planning::DualVariableWarmStartIPOPTQPInterface::get_optimization_results	(	Eigen::MatrixXd *	l_warm_up,
		Eigen::MatrixXd *	n_warm_up
	)		const

get_starting_point()

bool apollo::planning::DualVariableWarmStartIPOPTQPInterface::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

Method to return the starting point for the algorithm

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

• modules/planning/open_space/trajectory_smoother/dual_variable_warm_start_ipopt_qp_interface.h