#include <piecewise_jerk_speed_nonlinear_ipopt_interface.h>

Inheritance diagram for apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface:

Collaboration diagram for apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface:

Public Member Functions
	PiecewiseJerkSpeedNonlinearIpoptInterface (const double s_init, const double s_dot_init, const double s_ddot_init, const double delta_t, const int num_of_points, const double s_max_, const double s_dot_max, const double s_ddot_min, const double s_ddot_max, const double s_dddot_min, const double s_dddot_max)

virtual	~PiecewiseJerkSpeedNonlinearIpoptInterface ()=default

void	set_warm_start (const std::vector< std::vector< double >> &speed_profile)

void	set_curvature_curve (const PiecewiseJerkTrajectory1d &curvature_curve)

void	get_optimization_results (std::vector< double > ptr_opt_s, std::vector< double > ptr_opt_v, std::vector< double > *ptr_opt_a)

void	set_end_state_target (const double s_target, const double v_target, const double a_target)

void	set_reference_speed (const double s_dot_ref)

void	set_reference_spatial_distance (const std::vector< double > &s_ref)

void	set_speed_limit_curve (const PiecewiseJerkTrajectory1d &v_bound_f)

void	set_safety_bounds (const std::vector< std::pair< double, double >> &safety_bounds)

void	set_soft_safety_bounds (const std::vector< std::pair< double, double >> &soft_safety_bounds)

void	set_w_target_state (const double w_target_s, const double w_target_v, const double w_target_a)

void	set_w_overall_a (const double w_overall_a)

void	set_w_overall_j (const double w_overall_j)

void	set_w_overall_centripetal_acc (const double w_overall_centripetal_acc)

void	set_w_reference_speed (const double w_reference_speed)

void	set_w_reference_spatial_distance (const double w_ref_s)

void	set_w_soft_s_bound (const double w_soft_s_bound)

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

Constructor & Destructor Documentation

◆ PiecewiseJerkSpeedNonlinearIpoptInterface()

apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::PiecewiseJerkSpeedNonlinearIpoptInterface	(	const double	s_init,
		const double	s_dot_init,
		const double	s_ddot_init,
		const double	delta_t,
		const int	num_of_points,
		const double	s_max_,
		const double	s_dot_max,
		const double	s_ddot_min,
		const double	s_ddot_max,
		const double	s_dddot_min,
		const double	s_dddot_max
	)

◆ ~PiecewiseJerkSpeedNonlinearIpoptInterface()

virtual apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::~PiecewiseJerkSpeedNonlinearIpoptInterface ( )

virtualdefault

Member Function Documentation

◆ eval_f()

bool apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::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::PiecewiseJerkSpeedNonlinearIpoptInterface::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::PiecewiseJerkSpeedNonlinearIpoptInterface::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::PiecewiseJerkSpeedNonlinearIpoptInterface::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::PiecewiseJerkSpeedNonlinearIpoptInterface::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::PiecewiseJerkSpeedNonlinearIpoptInterface::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::PiecewiseJerkSpeedNonlinearIpoptInterface::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::PiecewiseJerkSpeedNonlinearIpoptInterface::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::PiecewiseJerkSpeedNonlinearIpoptInterface::get_optimization_results	(	std::vector< double > *	ptr_opt_s,
		std::vector< double > *	ptr_opt_v,
		std::vector< double > *	ptr_opt_a
	)

◆ get_starting_point()

bool apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::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_curve()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_curvature_curve ( const PiecewiseJerkTrajectory1d & curvature_curve )

◆ set_end_state_target()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_end_state_target	(	const double	s_target,
		const double	v_target,
		const double	a_target
	)

◆ set_reference_spatial_distance()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_reference_spatial_distance ( const std::vector< double > & s_ref )

◆ set_reference_speed()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_reference_speed ( const double s_dot_ref )

◆ set_safety_bounds()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_safety_bounds ( const std::vector< std::pair< double, double >> & safety_bounds )

◆ set_soft_safety_bounds()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_soft_safety_bounds ( const std::vector< std::pair< double, double >> & soft_safety_bounds )

◆ set_speed_limit_curve()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_speed_limit_curve ( const PiecewiseJerkTrajectory1d & v_bound_f )

◆ set_w_overall_a()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_w_overall_a ( const double w_overall_a )

◆ set_w_overall_centripetal_acc()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_w_overall_centripetal_acc ( const double w_overall_centripetal_acc )

◆ set_w_overall_j()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_w_overall_j ( const double w_overall_j )

◆ set_w_reference_spatial_distance()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_w_reference_spatial_distance ( const double w_ref_s )

◆ set_w_reference_speed()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_w_reference_speed ( const double w_reference_speed )

◆ set_w_soft_s_bound()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_w_soft_s_bound ( const double w_soft_s_bound )

◆ set_w_target_state()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_w_target_state	(	const double	w_target_s,
		const double	w_target_v,
		const double	w_target_a
	)

◆ set_warm_start()

void apollo::planning::PiecewiseJerkSpeedNonlinearIpoptInterface::set_warm_start ( const std::vector< std::vector< double >> & speed_profile )

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

modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_nonlinear_ipopt_interface.h

Public Member Functions

Solution Methods

Constructor & Destructor Documentation

◆ PiecewiseJerkSpeedNonlinearIpoptInterface()

◆ ~PiecewiseJerkSpeedNonlinearIpoptInterface()

Member Function Documentation

◆ eval_f()

◆ eval_g()

◆ eval_grad_f()

◆ eval_h()

◆ eval_jac_g()

◆ finalize_solution()

◆ get_bounds_info()

◆ get_nlp_info()

◆ get_optimization_results()

◆ get_starting_point()

◆ set_curvature_curve()

◆ set_end_state_target()

◆ set_reference_spatial_distance()

◆ set_reference_speed()

◆ set_safety_bounds()

◆ set_soft_safety_bounds()

◆ set_speed_limit_curve()

◆ set_w_overall_a()

◆ set_w_overall_centripetal_acc()

◆ set_w_overall_j()

◆ set_w_reference_spatial_distance()

◆ set_w_reference_speed()

◆ set_w_soft_s_bound()

◆ set_w_target_state()

◆ set_warm_start()