#include <piecewise_jerk_speed_problem.h>

Inheritance diagram for apollo::planning::PiecewiseJerkSpeedProblem:

Collaboration diagram for apollo::planning::PiecewiseJerkSpeedProblem:

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

virtual	~PiecewiseJerkSpeedProblem ()=default

void	set_dx_ref (const double weight_dx_ref, const double dx_ref)

void	set_penalty_dx (std::vector< double > penalty_dx)

Public Member Functions inherited from apollo::planning::PiecewiseJerkProblem
	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
void	CalculateKernel (std::vector< c_float > P_data, std::vector< c_int > P_indices, std::vector< c_int > *P_indptr) override

void	CalculateOffset (std::vector< c_float > *q) override

OSQPSettings *	SolverDefaultSettings () override

Protected Member Functions inherited from apollo::planning::PiecewiseJerkProblem
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)

OSQPData *	FormulateProblem ()

void	FreeData (OSQPData *data)

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

Protected Attributes
bool	has_dx_ref_ = false

double	weight_dx_ref_ = 0.0

double	dx_ref_ = 0.0

std::vector< double >	penalty_dx_

Protected Attributes inherited from apollo::planning::PiecewiseJerkProblem
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

◆ PiecewiseJerkSpeedProblem()

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

◆ ~PiecewiseJerkSpeedProblem()

virtual apollo::planning::PiecewiseJerkSpeedProblem::~PiecewiseJerkSpeedProblem ( )

virtualdefault

Member Function Documentation

◆ CalculateKernel()

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

overrideprotectedvirtual

Implements apollo::planning::PiecewiseJerkProblem.

◆ CalculateOffset()

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

overrideprotectedvirtual

Implements apollo::planning::PiecewiseJerkProblem.

◆ set_dx_ref()

void apollo::planning::PiecewiseJerkSpeedProblem::set_dx_ref	(	const double	weight_dx_ref,
		const double	dx_ref
	)

◆ set_penalty_dx()

void apollo::planning::PiecewiseJerkSpeedProblem::set_penalty_dx ( std::vector< double > penalty_dx )

◆ SolverDefaultSettings()

OSQPSettings* apollo::planning::PiecewiseJerkSpeedProblem::SolverDefaultSettings ( )

overrideprotectedvirtual

Reimplemented from apollo::planning::PiecewiseJerkProblem.

Member Data Documentation

◆ dx_ref_

double apollo::planning::PiecewiseJerkSpeedProblem::dx_ref_ = 0.0

protected

◆ has_dx_ref_

bool apollo::planning::PiecewiseJerkSpeedProblem::has_dx_ref_ = false

protected

◆ penalty_dx_

std::vector<double> apollo::planning::PiecewiseJerkSpeedProblem::penalty_dx_

protected

◆ weight_dx_ref_

double apollo::planning::PiecewiseJerkSpeedProblem::weight_dx_ref_ = 0.0

protected

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

modules/planning/math/piecewise_jerk/piecewise_jerk_speed_problem.h

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ PiecewiseJerkSpeedProblem()

◆ ~PiecewiseJerkSpeedProblem()

Member Function Documentation

◆ CalculateKernel()

◆ CalculateOffset()

◆ set_dx_ref()

◆ set_penalty_dx()

◆ SolverDefaultSettings()

Member Data Documentation

◆ dx_ref_

◆ has_dx_ref_

◆ penalty_dx_

◆ weight_dx_ref_