apollo::planning::DualVariableWarmStartSlackOSQPInterface Class Reference

#include <dual_variable_warm_start_slack_osqp_interface.h>

Collaboration diagram for apollo::planning::DualVariableWarmStartSlackOSQPInterface:

Public Member Functions
	DualVariableWarmStartSlackOSQPInterface (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	~DualVariableWarmStartSlackOSQPInterface ()=default
void	get_optimization_results (Eigen::MatrixXd *l_warm_up, Eigen::MatrixXd *n_warm_up, Eigen::MatrixXd *s_warm_up) const
bool	optimize ()
void	assembleP (std::vector< c_float > *P_data, std::vector< c_int > *P_indices, std::vector< c_int > *P_indptr)
void	assembleConstraint (std::vector< c_float > *A_data, std::vector< c_int > *A_indices, std::vector< c_int > *A_indptr)
void	assembleA (const int r, const int c, const std::vector< c_float > &P_data, const std::vector< c_int > &P_indices, const std::vector< c_int > &P_indptr)
void	checkSolution (const Eigen::MatrixXd &l_warm_up, const Eigen::MatrixXd &n_warm_up)
void	printMatrix (const int r, const int c, const std::vector< c_float > &P_data, const std::vector< c_int > &P_indices, const std::vector< c_int > &P_indptr)

Constructor & Destructor Documentation

DualVariableWarmStartSlackOSQPInterface()

apollo::planning::DualVariableWarmStartSlackOSQPInterface::DualVariableWarmStartSlackOSQPInterface	(	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
	)

~DualVariableWarmStartSlackOSQPInterface()

virtual apollo::planning::DualVariableWarmStartSlackOSQPInterface::~DualVariableWarmStartSlackOSQPInterface ( )

virtualdefault

Member Function Documentation

assembleA()

void apollo::planning::DualVariableWarmStartSlackOSQPInterface::assembleA	(	const int	r,
		const int	c,
		const std::vector< c_float > &	P_data,
		const std::vector< c_int > &	P_indices,
		const std::vector< c_int > &	P_indptr
	)

assembleConstraint()

void apollo::planning::DualVariableWarmStartSlackOSQPInterface::assembleConstraint	(	std::vector< c_float > *	A_data,
		std::vector< c_int > *	A_indices,
		std::vector< c_int > *	A_indptr
	)

assembleP()

void apollo::planning::DualVariableWarmStartSlackOSQPInterface::assembleP	(	std::vector< c_float > *	P_data,
		std::vector< c_int > *	P_indices,
		std::vector< c_int > *	P_indptr
	)

checkSolution()

void apollo::planning::DualVariableWarmStartSlackOSQPInterface::checkSolution	(	const Eigen::MatrixXd &	l_warm_up,
		const Eigen::MatrixXd &	n_warm_up
	)

get_optimization_results()

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

optimize()

bool apollo::planning::DualVariableWarmStartSlackOSQPInterface::optimize

(

)

printMatrix()

void apollo::planning::DualVariableWarmStartSlackOSQPInterface::printMatrix	(	const int	r,
		const int	c,
		const std::vector< c_float > &	P_data,
		const std::vector< c_int > &	P_indices,
		const std::vector< c_int > &	P_indptr
	)

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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_slack_osqp_interface.h