apollo::planning::PiecewiseJerkPathIpoptSolver Class Reference

#include <piecewise_jerk_path_ipopt_solver.h>

Inheritance diagram for apollo::planning::PiecewiseJerkPathIpoptSolver:

Collaboration diagram for apollo::planning::PiecewiseJerkPathIpoptSolver:

Public Member Functions
	PiecewiseJerkPathIpoptSolver (const double d_init, const double d_prime_init, const double d_pprime_init, const double delta_s, const double d_ppprime_max, std::vector< std::pair< double, double >> d_bounds)
virtual	~PiecewiseJerkPathIpoptSolver ()=default
void	set_objective_weights (const double w_x, const double w_dx, const double w_ddx, const double w_dddx, const double w_d_obs)
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
void	GetOptimizationResult (std::vector< double > *ptr_opt_d, std::vector< double > *ptr_opt_d_prime, std::vector< double > *ptr_opt_d_pprime) const

Constructor & Destructor Documentation

PiecewiseJerkPathIpoptSolver()

apollo::planning::PiecewiseJerkPathIpoptSolver::PiecewiseJerkPathIpoptSolver	(	const double	d_init,
		const double	d_prime_init,
		const double	d_pprime_init,
		const double	delta_s,
		const double	d_ppprime_max,
		std::vector< std::pair< double, double >>	d_bounds
	)

~PiecewiseJerkPathIpoptSolver()

virtual apollo::planning::PiecewiseJerkPathIpoptSolver::~PiecewiseJerkPathIpoptSolver ( )

virtualdefault

Member Function Documentation

eval_f()

bool apollo::planning::PiecewiseJerkPathIpoptSolver::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::PiecewiseJerkPathIpoptSolver::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::PiecewiseJerkPathIpoptSolver::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::PiecewiseJerkPathIpoptSolver::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::PiecewiseJerkPathIpoptSolver::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)

finalize_solution()

void apollo::planning::PiecewiseJerkPathIpoptSolver::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

get_bounds_info()

bool apollo::planning::PiecewiseJerkPathIpoptSolver::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::PiecewiseJerkPathIpoptSolver::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_starting_point()

bool apollo::planning::PiecewiseJerkPathIpoptSolver::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

GetOptimizationResult()

void apollo::planning::PiecewiseJerkPathIpoptSolver::GetOptimizationResult	(	std::vector< double > *	ptr_opt_d,
		std::vector< double > *	ptr_opt_d_prime,
		std::vector< double > *	ptr_opt_d_pprime
	)		const

set_objective_weights()

void apollo::planning::PiecewiseJerkPathIpoptSolver::set_objective_weights	(	const double	w_x,
		const double	w_dx,
		const double	w_ddx,
		const double	w_dddx,
		const double	w_d_obs
	)

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

• modules/planning/tasks/optimizers/piecewise_jerk_path/piecewise_jerk_path_ipopt_solver.h