#include <piecewise_jerk_problem.h>

Inheritance diagram for apollo::planning::PiecewiseJerkProblem:

Collaboration diagram for apollo::planning::PiecewiseJerkProblem:

Public Member Functions
	PiecewiseJerkProblem (const size_t num_of_knots, const double delta_s, const std::array< double, 3 > &x_init)

virtual	~PiecewiseJerkProblem ()=default

void	set_x_bounds (std::vector< std::pair< double, double >> x_bounds)

void	set_x_bounds (const double x_lower_bound, const double x_upper_bound)

void	set_dx_bounds (std::vector< std::pair< double, double >> dx_bounds)

void	set_dx_bounds (const double dx_lower_bound, const double dx_upper_bound)

void	set_ddx_bounds (std::vector< std::pair< double, double >> ddx_bounds)

void	set_ddx_bounds (const double ddx_lower_bound, const double ddx_upper_bound)

void	set_dddx_bound (const double dddx_bound)

void	set_dddx_bound (const double dddx_lower_bound, const double dddx_upper_bound)

void	set_weight_x (const double weight_x)

void	set_weight_dx (const double weight_dx)

void	set_weight_ddx (const double weight_ddx)

void	set_weight_dddx (const double weight_dddx)

void	set_scale_factor (const std::array< double, 3 > &scale_factor)

void	set_x_ref (const double weight_x_ref, std::vector< double > x_ref)
	Set the x ref object and the uniform x_ref weighting. More...

void	set_x_ref (std::vector< double > weight_x_ref_vec, std::vector< double > x_ref)
	Set the x ref object and piecewised x_ref weightings. More...

void	set_end_state_ref (const std::array< double, 3 > &weight_end_state, const std::array< double, 3 > &end_state_ref)

virtual bool	Optimize (const int max_iter=4000)

const std::vector< double > &	opt_x () const

const std::vector< double > &	opt_dx () const

const std::vector< double > &	opt_ddx () const

Protected Member Functions
virtual void	CalculateKernel (std::vector< c_float > P_data, std::vector< c_int > P_indices, std::vector< c_int > *P_indptr)=0

virtual void	CalculateOffset (std::vector< c_float > *q)=0

virtual void	CalculateAffineConstraint (std::vector< c_float > A_data, std::vector< c_int > A_indices, std::vector< c_int > A_indptr, std::vector< c_float > lower_bounds, std::vector< c_float > *upper_bounds)

virtual OSQPSettings *	SolverDefaultSettings ()

OSQPData *	FormulateProblem ()

void	FreeData (OSQPData *data)

template<typename T >
T *	CopyData (const std::vector< T > &vec)

Protected Attributes
size_t	num_of_knots_ = 0

std::vector< double >	x_

std::vector< double >	dx_

std::vector< double >	ddx_

std::array< double, 3 >	x_init_

std::array< double, 3 >	scale_factor_ = {{1.0, 1.0, 1.0}}

std::vector< std::pair< double, double > >	x_bounds_

std::vector< std::pair< double, double > >	dx_bounds_

std::vector< std::pair< double, double > >	ddx_bounds_

std::pair< double, double >	dddx_bound_

double	weight_x_ = 0.0

double	weight_dx_ = 0.0

double	weight_ddx_ = 0.0

double	weight_dddx_ = 0.0

double	delta_s_ = 1.0

bool	has_x_ref_ = false

double	weight_x_ref_ = 0.0

std::vector< double >	x_ref_

std::vector< double >	weight_x_ref_vec_

bool	has_end_state_ref_ = false

std::array< double, 3 >	weight_end_state_ = {{0.0, 0.0, 0.0}}

std::array< double, 3 >	end_state_ref_

Constructor & Destructor Documentation

◆ PiecewiseJerkProblem()

apollo::planning::PiecewiseJerkProblem::PiecewiseJerkProblem	(	const size_t	num_of_knots,
		const double	delta_s,
		const std::array< double, 3 > &	x_init
	)

◆ ~PiecewiseJerkProblem()

virtual apollo::planning::PiecewiseJerkProblem::~PiecewiseJerkProblem ( )

virtualdefault

Member Function Documentation

◆ CalculateAffineConstraint()

virtual void apollo::planning::PiecewiseJerkProblem::CalculateAffineConstraint	(	std::vector< c_float > *	A_data,
		std::vector< c_int > *	A_indices,
		std::vector< c_int > *	A_indptr,
		std::vector< c_float > *	lower_bounds,
		std::vector< c_float > *	upper_bounds
	)

protectedvirtual

◆ CalculateKernel()

virtual void apollo::planning::PiecewiseJerkProblem::CalculateKernel	(	std::vector< c_float > *	P_data,
		std::vector< c_int > *	P_indices,
		std::vector< c_int > *	P_indptr
	)

protectedpure virtual

Implemented in apollo::planning::PiecewiseJerkSpeedProblem, and apollo::planning::PiecewiseJerkPathProblem.

◆ CalculateOffset()

virtual void apollo::planning::PiecewiseJerkProblem::CalculateOffset ( std::vector< c_float > * q )

protectedpure virtual

Implemented in apollo::planning::PiecewiseJerkSpeedProblem, and apollo::planning::PiecewiseJerkPathProblem.

◆ CopyData()

template<typename T >

T* apollo::planning::PiecewiseJerkProblem::CopyData ( const std::vector< T > & vec )

inlineprotected

◆ FormulateProblem()

OSQPData* apollo::planning::PiecewiseJerkProblem::FormulateProblem ( )

protected

◆ FreeData()

void apollo::planning::PiecewiseJerkProblem::FreeData ( OSQPData * data )

protected

◆ opt_ddx()

const std::vector<double>& apollo::planning::PiecewiseJerkProblem::opt_ddx ( ) const

inline

◆ opt_dx()

const std::vector<double>& apollo::planning::PiecewiseJerkProblem::opt_dx ( ) const

inline

◆ opt_x()

const std::vector<double>& apollo::planning::PiecewiseJerkProblem::opt_x ( ) const

inline

◆ Optimize()

virtual bool apollo::planning::PiecewiseJerkProblem::Optimize ( const int max_iter = 4000 )

virtual

◆ set_dddx_bound() [1/2]

void apollo::planning::PiecewiseJerkProblem::set_dddx_bound ( const double dddx_bound )

inline

◆ set_dddx_bound() [2/2]

void apollo::planning::PiecewiseJerkProblem::set_dddx_bound	(	const double	dddx_lower_bound,
		const double	dddx_upper_bound
	)

inline

◆ set_ddx_bounds() [1/2]

void apollo::planning::PiecewiseJerkProblem::set_ddx_bounds ( std::vector< std::pair< double, double >> ddx_bounds )

◆ set_ddx_bounds() [2/2]

void apollo::planning::PiecewiseJerkProblem::set_ddx_bounds	(	const double	ddx_lower_bound,
		const double	ddx_upper_bound
	)

◆ set_dx_bounds() [1/2]

void apollo::planning::PiecewiseJerkProblem::set_dx_bounds ( std::vector< std::pair< double, double >> dx_bounds )

◆ set_dx_bounds() [2/2]

void apollo::planning::PiecewiseJerkProblem::set_dx_bounds	(	const double	dx_lower_bound,
		const double	dx_upper_bound
	)

◆ set_end_state_ref()

void apollo::planning::PiecewiseJerkProblem::set_end_state_ref	(	const std::array< double, 3 > &	weight_end_state,
		const std::array< double, 3 > &	end_state_ref
	)

◆ set_scale_factor()

void apollo::planning::PiecewiseJerkProblem::set_scale_factor ( const std::array< double, 3 > & scale_factor )

inline

◆ set_weight_dddx()

void apollo::planning::PiecewiseJerkProblem::set_weight_dddx ( const double weight_dddx )

inline

◆ set_weight_ddx()

void apollo::planning::PiecewiseJerkProblem::set_weight_ddx ( const double weight_ddx )

inline

◆ set_weight_dx()

void apollo::planning::PiecewiseJerkProblem::set_weight_dx ( const double weight_dx )

inline

◆ set_weight_x()

void apollo::planning::PiecewiseJerkProblem::set_weight_x ( const double weight_x )

inline

◆ set_x_bounds() [1/2]

void apollo::planning::PiecewiseJerkProblem::set_x_bounds ( std::vector< std::pair< double, double >> x_bounds )

◆ set_x_bounds() [2/2]

void apollo::planning::PiecewiseJerkProblem::set_x_bounds	(	const double	x_lower_bound,
		const double	x_upper_bound
	)

◆ set_x_ref() [1/2]

void apollo::planning::PiecewiseJerkProblem::set_x_ref	(	const double	weight_x_ref,
		std::vector< double >	x_ref
	)

Set the x ref object and the uniform x_ref weighting.

Parameters

weight_x_ref	uniform weighting for x_ref
x_ref	objective value of x

◆ set_x_ref() [2/2]

void apollo::planning::PiecewiseJerkProblem::set_x_ref	(	std::vector< double >	weight_x_ref_vec,
		std::vector< double >	x_ref
	)

Set the x ref object and piecewised x_ref weightings.

Parameters

weight_x_ref_vec	piecewised x_ref weightings
x_ref	objective value of x

◆ SolverDefaultSettings()

virtual OSQPSettings* apollo::planning::PiecewiseJerkProblem::SolverDefaultSettings ( )

protectedvirtual

Reimplemented in apollo::planning::PiecewiseJerkSpeedProblem.

Member Data Documentation

◆ dddx_bound_

std::pair<double, double> apollo::planning::PiecewiseJerkProblem::dddx_bound_

protected

◆ ddx_

std::vector<double> apollo::planning::PiecewiseJerkProblem::ddx_

protected

◆ ddx_bounds_

std::vector<std::pair<double, double> > apollo::planning::PiecewiseJerkProblem::ddx_bounds_

protected

◆ delta_s_

double apollo::planning::PiecewiseJerkProblem::delta_s_ = 1.0

protected

◆ dx_

std::vector<double> apollo::planning::PiecewiseJerkProblem::dx_

protected

◆ dx_bounds_

std::vector<std::pair<double, double> > apollo::planning::PiecewiseJerkProblem::dx_bounds_

protected

◆ end_state_ref_

std::array<double, 3> apollo::planning::PiecewiseJerkProblem::end_state_ref_

protected

◆ has_end_state_ref_

bool apollo::planning::PiecewiseJerkProblem::has_end_state_ref_ = false

protected

◆ has_x_ref_

bool apollo::planning::PiecewiseJerkProblem::has_x_ref_ = false

protected

◆ num_of_knots_

size_t apollo::planning::PiecewiseJerkProblem::num_of_knots_ = 0

protected

◆ scale_factor_

std::array<double, 3> apollo::planning::PiecewiseJerkProblem::scale_factor_ = {{1.0, 1.0, 1.0}}

protected

◆ weight_dddx_

double apollo::planning::PiecewiseJerkProblem::weight_dddx_ = 0.0

protected

◆ weight_ddx_

double apollo::planning::PiecewiseJerkProblem::weight_ddx_ = 0.0

protected

◆ weight_dx_

double apollo::planning::PiecewiseJerkProblem::weight_dx_ = 0.0

protected

◆ weight_end_state_

std::array<double, 3> apollo::planning::PiecewiseJerkProblem::weight_end_state_ = {{0.0, 0.0, 0.0}}

protected

◆ weight_x_

double apollo::planning::PiecewiseJerkProblem::weight_x_ = 0.0

protected

◆ weight_x_ref_

double apollo::planning::PiecewiseJerkProblem::weight_x_ref_ = 0.0

protected

◆ weight_x_ref_vec_

std::vector<double> apollo::planning::PiecewiseJerkProblem::weight_x_ref_vec_

protected

◆ x_

std::vector<double> apollo::planning::PiecewiseJerkProblem::x_

protected

◆ x_bounds_

std::vector<std::pair<double, double> > apollo::planning::PiecewiseJerkProblem::x_bounds_

protected

◆ x_init_

std::array<double, 3> apollo::planning::PiecewiseJerkProblem::x_init_

protected

◆ x_ref_

std::vector<double> apollo::planning::PiecewiseJerkProblem::x_ref_

protected

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

modules/planning/math/piecewise_jerk/piecewise_jerk_problem.h

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ PiecewiseJerkProblem()

◆ ~PiecewiseJerkProblem()

Member Function Documentation

◆ CalculateAffineConstraint()

◆ CalculateKernel()

◆ CalculateOffset()

◆ CopyData()

◆ FormulateProblem()

◆ FreeData()

◆ opt_ddx()

◆ opt_dx()

◆ opt_x()

◆ Optimize()

◆ set_dddx_bound() [1/2]

◆ set_dddx_bound() [2/2]

◆ set_ddx_bounds() [1/2]

◆ set_ddx_bounds() [2/2]

◆ set_dx_bounds() [1/2]

◆ set_dx_bounds() [2/2]

◆ set_end_state_ref()

◆ set_scale_factor()

◆ set_weight_dddx()

◆ set_weight_ddx()

◆ set_weight_dx()

◆ set_weight_x()

◆ set_x_bounds() [1/2]

◆ set_x_bounds() [2/2]

◆ set_x_ref() [1/2]

◆ set_x_ref() [2/2]

◆ SolverDefaultSettings()

Member Data Documentation

◆ dddx_bound_

◆ ddx_

◆ ddx_bounds_

◆ delta_s_

◆ dx_

◆ dx_bounds_

◆ end_state_ref_

◆ has_end_state_ref_

◆ has_x_ref_

◆ num_of_knots_

◆ scale_factor_

◆ weight_dddx_

◆ weight_ddx_

◆ weight_dx_

◆ weight_end_state_

◆ weight_x_

◆ weight_x_ref_

◆ weight_x_ref_vec_

◆ x_

◆ x_bounds_

◆ x_init_

◆ x_ref_