#include <distance_approach_interface.h>

类 apollo::planning::DistanceApproachInterface 继承关系图:

apollo::planning::DistanceApproachInterface 的协作图:

Public 成员函数
virtual	~DistanceApproachInterface ()=default

virtual bool	get_nlp_info (int &n, int &m, int &nnz_jac_g, int &nnz_h_lag, IndexStyleEnum &index_style)=0
	Method to return some info about the nlp

virtual bool	get_bounds_info (int n, double x_l, double x_u, int m, double g_l, double g_u)=0
	Method to return the bounds for my problem

virtual 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)=0
	Method to return the starting point for the algorithm

virtual bool	eval_f (int n, const double *x, bool new_x, double &obj_value)=0
	Method to return the objective value

virtual bool	eval_grad_f (int n, const double x, bool new_x, double grad_f)=0
	Method to return the gradient of the objective

virtual bool	eval_g (int n, const double x, bool new_x, int m, double g)=0
	Method to return the constraint residuals

virtual bool	check_g (int n, const double x, int m, const double g)=0
	Check unfeasible constraints for further study

virtual bool	eval_jac_g (int n, const double x, bool new_x, int m, int nele_jac, int iRow, int jCol, double values)=0
	Method to return: 1) The structure of the jacobian (if "values" is nullptr) 2) The values of the jacobian (if "values" is not nullptr)

virtual bool	eval_jac_g_ser (int n, const double x, bool new_x, int m, int nele_jac, int iRow, int jCol, double values)=0

virtual 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)=0
	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)

Solution Methods
virtual 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)=0
	This method is called when the algorithm is complete so the TNLP can store/write the solution

virtual void	get_optimization_results (Eigen::MatrixXd state_result, Eigen::MatrixXd control_result, Eigen::MatrixXd time_result, Eigen::MatrixXd dual_l_result, Eigen::MatrixXd *dual_n_result) const =0

详细描述

在文件 distance_approach_interface.h 第 52 行定义.

构造及析构函数说明

◆ ~DistanceApproachInterface()

virtual apollo::planning::DistanceApproachInterface::~DistanceApproachInterface ( )

virtualdefault

成员函数说明

◆ check_g()

virtual bool apollo::planning::DistanceApproachInterface::check_g	(	int	n,
		const double *	x,
		int	m,
		const double *	g
	)

pure virtual

Check unfeasible constraints for further study

在 apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface , 以及 apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface 内被实现.

◆ eval_f()

virtual bool apollo::planning::DistanceApproachInterface::eval_f	(	int	n,
		const double *	x,
		bool	new_x,
		double &	obj_value
	)

pure virtual

Method to return the objective value

在 apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface , 以及 apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface 内被实现.

◆ eval_g()

virtual bool apollo::planning::DistanceApproachInterface::eval_g	(	int	n,
		const double *	x,
		bool	new_x,
		int	m,
		double *	g
	)

pure virtual

Method to return the constraint residuals

在 apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface , 以及 apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface 内被实现.

◆ eval_grad_f()

virtual bool apollo::planning::DistanceApproachInterface::eval_grad_f	(	int	n,
		const double *	x,
		bool	new_x,
		double *	grad_f
	)

pure virtual

Method to return the gradient of the objective

在 apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface , 以及 apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface 内被实现.

◆ eval_h()

virtual bool apollo::planning::DistanceApproachInterface::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
	)

pure virtual

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)

在 apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface , 以及 apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface 内被实现.

◆ eval_jac_g()

virtual bool apollo::planning::DistanceApproachInterface::eval_jac_g	(	int	n,
		const double *	x,
		bool	new_x,
		int	m,
		int	nele_jac,
		int *	iRow,
		int *	jCol,
		double *	values
	)

pure virtual

Method to return: 1) The structure of the jacobian (if "values" is nullptr) 2) The values of the jacobian (if "values" is not nullptr)

在 apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface , 以及 apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface 内被实现.

◆ eval_jac_g_ser()

virtual bool apollo::planning::DistanceApproachInterface::eval_jac_g_ser	(	int	n,
		const double *	x,
		bool	new_x,
		int	m,
		int	nele_jac,
		int *	iRow,
		int *	jCol,
		double *	values
	)

pure virtual

在 apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface , 以及 apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface 内被实现.

◆ finalize_solution()

virtual void apollo::planning::DistanceApproachInterface::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
	)

pure virtual

This method is called when the algorithm is complete so the TNLP can store/write the solution

在 apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface , 以及 apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface 内被实现.

◆ get_bounds_info()

virtual bool apollo::planning::DistanceApproachInterface::get_bounds_info	(	int	n,
		double *	x_l,
		double *	x_u,
		int	m,
		double *	g_l,
		double *	g_u
	)

pure virtual

Method to return the bounds for my problem

在 apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface , 以及 apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface 内被实现.

◆ get_nlp_info()

virtual bool apollo::planning::DistanceApproachInterface::get_nlp_info	(	int &	n,
		int &	m,
		int &	nnz_jac_g,
		int &	nnz_h_lag,
		IndexStyleEnum &	index_style
	)

pure virtual

Method to return some info about the nlp

在 apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface , 以及 apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface 内被实现.

◆ get_optimization_results()

virtual void apollo::planning::DistanceApproachInterface::get_optimization_results	(	Eigen::MatrixXd *	state_result,
		Eigen::MatrixXd *	control_result,
		Eigen::MatrixXd *	time_result,
		Eigen::MatrixXd *	dual_l_result,
		Eigen::MatrixXd *	dual_n_result
	)		const

pure virtual

在 apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface , 以及 apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface 内被实现.

◆ get_starting_point()

virtual bool apollo::planning::DistanceApproachInterface::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
	)

pure virtual

Method to return the starting point for the algorithm

在 apollo::planning::DistanceApproachIPOPTCUDAInterface, apollo::planning::DistanceApproachIPOPTFixedDualInterface, apollo::planning::DistanceApproachIPOPTFixedTsInterface, apollo::planning::DistanceApproachIPOPTInterface, apollo::planning::DistanceApproachIPOPTRelaxEndInterface , 以及 apollo::planning::DistanceApproachIPOPTRelaxEndSlackInterface 内被实现.

该类的文档由以下文件生成:

modules/planning/planning_open_space/trajectory_smoother/distance_approach_interface.h

Public 成员函数

详细描述

构造及析构函数说明

◆ ~DistanceApproachInterface()

成员函数说明

◆ check_g()

◆ eval_f()

◆ eval_g()

◆ eval_grad_f()

◆ eval_h()

◆ eval_jac_g()

◆ eval_jac_g_ser()

◆ finalize_solution()

◆ get_bounds_info()

◆ get_nlp_info()

◆ get_optimization_results()

◆ get_starting_point()