apollo::planning::SpiralProblemInterface Class Reference

#include <spiral_problem_interface.h>

Inheritance diagram for apollo::planning::SpiralProblemInterface:

Collaboration diagram for apollo::planning::SpiralProblemInterface:

Public Member Functions
	SpiralProblemInterface (std::vector< Eigen::Vector2d > points)
virtual	~SpiralProblemInterface ()=default
void	set_default_max_point_deviation (const double point_max_deviation)
void	set_start_point (const double x, const double y, const double theta, const double kappa, const double dkappa)
void	set_end_point (const double x, const double y, const double theta, const double kappa, const double dkappa)
void	set_end_point_position (const double x, const double y)
void	set_element_weight_curve_length (const double weight_curve_length)
void	set_element_weight_kappa (const double weight_kappa)
void	set_element_weight_dkappa (const double weight_dkappa)
void	get_optimization_results (std::vector< double > *ptr_theta, std::vector< double > *ptr_kappa, std::vector< double > *ptr_dkappa, std::vector< double > *ptr_s, 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
static constexpr size_t	N = 10
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

SpiralProblemInterface()

apollo::planning::SpiralProblemInterface::SpiralProblemInterface ( std::vector< Eigen::Vector2d >  points )

explicit

~SpiralProblemInterface()

virtual apollo::planning::SpiralProblemInterface::~SpiralProblemInterface ( )

virtualdefault

Member Function Documentation

eval_f()

bool apollo::planning::SpiralProblemInterface::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::SpiralProblemInterface::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::SpiralProblemInterface::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::SpiralProblemInterface::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::SpiralProblemInterface::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::SpiralProblemInterface::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::SpiralProblemInterface::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::SpiralProblemInterface::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::SpiralProblemInterface::get_optimization_results	(	std::vector< double > *	ptr_theta,
		std::vector< double > *	ptr_kappa,
		std::vector< double > *	ptr_dkappa,
		std::vector< double > *	ptr_s,
		std::vector< double > *	ptr_x,
		std::vector< double > *	ptr_y
	)		const

get_starting_point()

bool apollo::planning::SpiralProblemInterface::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_default_max_point_deviation()

void apollo::planning::SpiralProblemInterface::set_default_max_point_deviation

(

const double

point_max_deviation

)

set_element_weight_curve_length()

void apollo::planning::SpiralProblemInterface::set_element_weight_curve_length

(

const double

weight_curve_length

)

set_element_weight_dkappa()

void apollo::planning::SpiralProblemInterface::set_element_weight_dkappa

(

const double

weight_dkappa

)

set_element_weight_kappa()

void apollo::planning::SpiralProblemInterface::set_element_weight_kappa

(

const double

weight_kappa

)

set_end_point()

void apollo::planning::SpiralProblemInterface::set_end_point	(	const double	x,
		const double	y,
		const double	theta,
		const double	kappa,
		const double	dkappa
	)

set_end_point_position()

void apollo::planning::SpiralProblemInterface::set_end_point_position	(	const double	x,
		const double	y
	)

set_start_point()

void apollo::planning::SpiralProblemInterface::set_start_point	(	const double	x,
		const double	y,
		const double	theta,
		const double	kappa,
		const double	dkappa
	)

Member Data Documentation

N

constexpr size_t apollo::planning::SpiralProblemInterface::N = 10

static

---

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

• modules/planning/reference_line/spiral_problem_interface.h