distance_approach_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 <omp.h>
 
#include <adolc/adolc.h>
#include <adolc/adolc_openmp.h>
#include <adolc/adolc_sparse.h>
#include <adolc/adouble.h>
#include <coin/IpTNLP.hpp>
#include <coin/IpTypes.hpp>
 
#include "Eigen/Dense"
 
#include "modules/common_msgs/config_msgs/vehicle_config.pb.h"
#include "modules/planning/planning_open_space/proto/planner_open_space_config.pb.h"
 
#include "cyber/common/log.h"
#include "cyber/common/macros.h"
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/math/math_utils.h"
#include "modules/common/util/util.h"
#include "modules/planning/planning_base/gflags/planning_gflags.h"
 
#define tag_f 1
#define tag_g 2
#define tag_L 3
#define HPOFF 30
 
namespace apollo {
namespace planning {
 
class DistanceApproachInterface : public Ipopt::TNLP {
public:
    virtual ~DistanceApproachInterface() = default;
 
    virtual bool get_nlp_info(
            int& n,
            int& m,
            int& nnz_jac_g,  // NOLINT
            int& nnz_h_lag,  // NOLINT
            IndexStyleEnum& index_style)
            = 0;  // NOLINT
 
    virtual bool get_bounds_info(int n, double* x_l, double* x_u, int m, double* g_l, double* g_u) = 0;
 
    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;
 
    virtual bool eval_f(
            int n,
            const double* x,
            bool new_x,  // NOLINT
            double& obj_value)
            = 0;  // NOLINT
 
    virtual bool eval_grad_f(int n, const double* x, bool new_x, double* grad_f) = 0;
 
    virtual bool eval_g(int n, const double* x, bool new_x, int m, double* g) = 0;
 
    virtual bool check_g(int n, const double* x, int m, const double* g) = 0;
 
    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;
    // sequential implementation to jac_g
    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;
 
    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;
 
    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;
};
 
}  // namespace planning
}  // namespace apollo