#include <fem_pos_deviation_ipopt_interface.h>

Inheritance diagram for apollo::planning::FemPosDeviationIpoptInterface:

Collaboration diagram for apollo::planning::FemPosDeviationIpoptInterface:

Public Member Functions
	FemPosDeviationIpoptInterface (std::vector< std::pair< double, double >> points, std::vector< double > bounds)

virtual	~FemPosDeviationIpoptInterface ()=default

void	set_weight_fem_pos_deviation (const double weight_fem_pos_deviation)

void	set_weight_path_length (const double weight_path_length)

void	set_weight_ref_deviation (const double weight_ref_deviation)

void	set_weight_curvature_constraint_slack_var (const double weight_curvature_constraint_slack_var)

void	set_curvature_constraint (const double curvature_constraint)

void	get_optimization_results (std::vector< double > ptr_x, std::vector< double > ptr_y) const

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)

virtual void	generate_tapes (int n, int m, int nnz_jac_g, int nnz_h_lag)

Constructor & Destructor Documentation

◆ FemPosDeviationIpoptInterface()

apollo::planning::FemPosDeviationIpoptInterface::FemPosDeviationIpoptInterface	(	std::vector< std::pair< double, double >>	points,
		std::vector< double >	bounds
	)

◆ ~FemPosDeviationIpoptInterface()

virtual apollo::planning::FemPosDeviationIpoptInterface::~FemPosDeviationIpoptInterface ( )

virtualdefault

Member Function Documentation

◆ eval_constraints()

template<class T >

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

Template to compute contraints

◆ eval_f()

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

Template to return the objective value

◆ finalize_solution()

void apollo::planning::FemPosDeviationIpoptInterface::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()

virtual void apollo::planning::FemPosDeviationIpoptInterface::generate_tapes	(	int	n,
		int	m,
		int *	nnz_jac_g,
		int *	nnz_h_lag
	)

virtual

Method to generate the required tapes

◆ get_bounds_info()

bool apollo::planning::FemPosDeviationIpoptInterface::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::FemPosDeviationIpoptInterface::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::FemPosDeviationIpoptInterface::get_optimization_results	(	std::vector< double > *	ptr_x,
		std::vector< double > *	ptr_y
	)		const

◆ get_starting_point()

bool apollo::planning::FemPosDeviationIpoptInterface::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

◆ set_curvature_constraint()

void apollo::planning::FemPosDeviationIpoptInterface::set_curvature_constraint ( const double curvature_constraint )

inline

◆ set_weight_curvature_constraint_slack_var()

void apollo::planning::FemPosDeviationIpoptInterface::set_weight_curvature_constraint_slack_var ( const double weight_curvature_constraint_slack_var )

inline

◆ set_weight_fem_pos_deviation()

void apollo::planning::FemPosDeviationIpoptInterface::set_weight_fem_pos_deviation ( const double weight_fem_pos_deviation )

inline

◆ set_weight_path_length()

void apollo::planning::FemPosDeviationIpoptInterface::set_weight_path_length ( const double weight_path_length )

inline

◆ set_weight_ref_deviation()

void apollo::planning::FemPosDeviationIpoptInterface::set_weight_ref_deviation ( const double weight_ref_deviation )

inline

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

modules/planning/math/discretized_points_smoothing/fem_pos_deviation_ipopt_interface.h

Public Member Functions

Solution Methods

Constructor & Destructor Documentation

◆ FemPosDeviationIpoptInterface()

◆ ~FemPosDeviationIpoptInterface()

Member Function Documentation

◆ eval_constraints()

◆ eval_f()

◆ eval_g()

◆ eval_grad_f()

◆ eval_h()

◆ eval_jac_g()

◆ eval_obj()

◆ finalize_solution()

◆ generate_tapes()

◆ get_bounds_info()

◆ get_nlp_info()

◆ get_optimization_results()

◆ get_starting_point()

◆ set_curvature_constraint()

◆ set_weight_curvature_constraint_slack_var()

◆ set_weight_fem_pos_deviation()

◆ set_weight_path_length()

◆ set_weight_ref_deviation()