dual_variable_warm_start_slack_osqp_interface.h

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/******************************************************************************
 * Copyright 2019 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

/*
 * @file
 */

#pragma once

#include <limits>
#include <vector>

#include "Eigen/Dense"
#include "modules/common/configs/proto/vehicle_config.pb.h"
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/planning/proto/planner_open_space_config.pb.h"
#include "osqp/osqp.h"

namespace apollo {
namespace planning {

class DualVariableWarmStartSlackOSQPInterface {
 public:
  DualVariableWarmStartSlackOSQPInterface(
      size_t horizon, double ts, const Eigen::MatrixXd& ego,
      const Eigen::MatrixXi& obstacles_edges_num, const size_t obstacles_num,
      const Eigen::MatrixXd& obstacles_A, const Eigen::MatrixXd& obstacles_b,
      const Eigen::MatrixXd& xWS,
      const PlannerOpenSpaceConfig& planner_open_space_config);

  virtual ~DualVariableWarmStartSlackOSQPInterface() = default;

  void get_optimization_results(Eigen::MatrixXd* l_warm_up,
                                Eigen::MatrixXd* n_warm_up,
                                Eigen::MatrixXd* s_warm_up) const;

  bool optimize();

  void assembleP(std::vector<c_float>* P_data, std::vector<c_int>* P_indices,
                 std::vector<c_int>* P_indptr);

  void assembleConstraint(std::vector<c_float>* A_data,
                          std::vector<c_int>* A_indices,
                          std::vector<c_int>* A_indptr);

  void assembleA(const int r, const int c, const std::vector<c_float>& P_data,
                 const std::vector<c_int>& P_indices,
                 const std::vector<c_int>& P_indptr);

  void checkSolution(const Eigen::MatrixXd& l_warm_up,
                     const Eigen::MatrixXd& n_warm_up);

  void printMatrix(const int r, const int c, const std::vector<c_float>& P_data,
                   const std::vector<c_int>& P_indices,
                   const std::vector<c_int>& P_indptr);

 private:
  OSQPConfig osqp_config_;

  int num_of_variables_;
  int num_of_constraints_;
  int horizon_;
  double ts_;
  Eigen::MatrixXd ego_;
  int lambda_horizon_ = 0;
  int miu_horizon_ = 0;
  int slack_horizon_ = 0;
  double beta_ = 0.0;

  Eigen::MatrixXd l_warm_up_;
  Eigen::MatrixXd n_warm_up_;
  Eigen::MatrixXd slacks_;
  double wheelbase_;

  double w_ev_;
  double l_ev_;
  std::vector<double> g_;
  double offset_;
  Eigen::MatrixXi obstacles_edges_num_;
  int obstacles_num_;
  int obstacles_edges_sum_;

  double min_safety_distance_;

  // lagrangian l start index
  int l_start_index_ = 0;

  // lagrangian n start index
  int n_start_index_ = 0;

  // slack s start index
  int s_start_index_ = 0;

  // obstacles_A
  Eigen::MatrixXd obstacles_A_;

  // obstacles_b
  Eigen::MatrixXd obstacles_b_;

  // states of warm up stage
  Eigen::MatrixXd xWS_;

  // constraint A matrix in eigen format
  Eigen::MatrixXf constraint_A_;

  bool check_mode_;
};

}  // namespace planning
}  // namespace apollo