distance_approach_problem.h

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/******************************************************************************
 * Copyright 2017 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 <vector>
 
#include <coin/IpIpoptApplication.hpp>
#include <coin/IpSolveStatistics.hpp>
 
#include "Eigen/Dense"
 
#include "modules/common_msgs/planning_msgs/planning.pb.h"
 
#include "modules/planning/planning_base/gflags/planning_gflags.h"
#include "modules/planning/planning_open_space/trajectory_smoother/distance_approach_ipopt_cuda_interface.h"
#include "modules/planning/planning_open_space/trajectory_smoother/distance_approach_ipopt_fixed_dual_interface.h"
#include "modules/planning/planning_open_space/trajectory_smoother/distance_approach_ipopt_fixed_ts_interface.h"
#include "modules/planning/planning_open_space/trajectory_smoother/distance_approach_ipopt_interface.h"
#include "modules/planning/planning_open_space/trajectory_smoother/distance_approach_ipopt_relax_end_interface.h"
#include "modules/planning/planning_open_space/trajectory_smoother/distance_approach_ipopt_relax_end_slack_interface.h"
 
namespace apollo {
namespace planning {
 
class DistanceApproachProblem {
public:
    explicit DistanceApproachProblem(const PlannerOpenSpaceConfig& planner_open_space_config);
 
    virtual ~DistanceApproachProblem() = default;
 
    bool Solve(
            const Eigen::MatrixXd& x0,
            const Eigen::MatrixXd& xF,
            const Eigen::MatrixXd& last_time_u,
            const size_t horizon,
            const double ts,
            const Eigen::MatrixXd& ego,
            const Eigen::MatrixXd& xWS,
            const Eigen::MatrixXd& uWS,
            const Eigen::MatrixXd& l_warm_up,
            const Eigen::MatrixXd& n_warm_up,
            const Eigen::MatrixXd& s_warm_up,
            const std::vector<double>& XYbounds,
            const size_t obstacles_num,
            const Eigen::MatrixXi& obstacles_edges_num,
            const Eigen::MatrixXd& obstacles_A,
            const Eigen::MatrixXd& obstacles_b,
            Eigen::MatrixXd* state_result,
            Eigen::MatrixXd* control_result,
            Eigen::MatrixXd* time_result,
            Eigen::MatrixXd* dual_l_result,
            Eigen::MatrixXd* dual_n_result);
 
private:
    PlannerOpenSpaceConfig planner_open_space_config_;
 
    // park generic
public:
    explicit DistanceApproachProblem(const DistanceApproachConfig& distance_approach_config);
 
private:
    DistanceApproachConfig distance_approach_config_;
};
 
}  // namespace planning
}  // namespace apollo