fem_pos_deviation_ipopt_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.
 *****************************************************************************/
 
#pragma once
 
#include <utility>
#include <vector>
 
#include <adolc/adolc.h>
#include <adolc/adolc_sparse.h>
#include <adolc/adouble.h>
#include <coin/IpIpoptApplication.hpp>
#include <coin/IpIpoptCalculatedQuantities.hpp>
#include <coin/IpIpoptData.hpp>
#include <coin/IpOrigIpoptNLP.hpp>
#include <coin/IpSolveStatistics.hpp>
#include <coin/IpTNLP.hpp>
#include <coin/IpTNLPAdapter.hpp>
#include <coin/IpTypes.hpp>
 
#define tag_f 1
#define tag_g 2
#define tag_L 3
#define HPOFF 30
 
namespace apollo {
namespace planning {
 
class FemPosDeviationIpoptInterface : public Ipopt::TNLP {
 public:
  FemPosDeviationIpoptInterface(std::vector<std::pair<double, double>> points,
                                std::vector<double> bounds);
 
  virtual ~FemPosDeviationIpoptInterface() = default;
 
  void set_weight_fem_pos_deviation(const double weight_fem_pos_deviation) {
    weight_fem_pos_deviation_ = weight_fem_pos_deviation;
  }
 
  void set_weight_path_length(const double weight_path_length) {
    weight_path_length_ = weight_path_length;
  }
 
  void set_weight_ref_deviation(const double weight_ref_deviation) {
    weight_ref_deviation_ = weight_ref_deviation;
  }
 
  void set_weight_curvature_constraint_slack_var(
      const double weight_curvature_constraint_slack_var) {
    weight_curvature_constraint_slack_var_ =
        weight_curvature_constraint_slack_var;
  }
 
  void set_curvature_constraint(const double curvature_constraint) {
    curvature_constraint_ = curvature_constraint;
  }
 
  void get_optimization_results(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;
 
  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;
 
  //***************    start ADOL-C part ***********************************
 
  template <class T>
  bool eval_obj(int n, const T* x, T* obj_value);
 
  template <class T>
  bool eval_constraints(int n, const T* x, int m, T* g);
 
  virtual void generate_tapes(int n, int m, int* nnz_jac_g, int* nnz_h_lag);
 
  //***************    end   ADOL-C part ***********************************
 
 private:
  // Reference points and deviation bounds
  std::vector<std::pair<double, double>> ref_points_;
  std::vector<double> bounds_around_refs_;
 
  // Weights in optimization cost function
  double weight_fem_pos_deviation_ = 1.0e8;
  double weight_path_length_ = 1.0;
  double weight_ref_deviation_ = 1.0;
  double weight_curvature_constraint_slack_var_ = 1.0e2;
 
  double curvature_constraint_ = 0.2;
 
  size_t num_of_variables_ = 0;
  size_t num_of_constraints_ = 0;
  size_t nnz_jac_g_ = 0;
  size_t nnz_h_lag_ = 0;
  size_t num_of_points_ = 0;
  size_t num_of_slack_var_ = 0;
  size_t num_of_curvature_constr_ = 0;
  size_t num_of_slack_constr_ = 0;
 
  size_t slack_var_start_index_ = 0;
  size_t slack_var_end_index_ = 0;
  size_t curvature_constr_start_index_ = 0;
  size_t curvature_constr_end_index_ = 0;
  size_t slack_constr_start_index_ = 0;
  size_t slack_constr_end_index_ = 0;
 
  std::vector<double> opt_x_;
  std::vector<double> opt_y_;
 
  //***************    start ADOL-C part ***********************************
 
  FemPosDeviationIpoptInterface(const FemPosDeviationIpoptInterface&);
  FemPosDeviationIpoptInterface& operator=(
      const FemPosDeviationIpoptInterface&);
 
  std::vector<double> obj_lam_;
 
  //** variables for sparsity exploitation
  unsigned int* rind_g_; /* row indices    */
  unsigned int* cind_g_; /* column indices */
  double* jacval_;       /* values         */
  unsigned int* rind_L_; /* row indices    */
  unsigned int* cind_L_; /* column indices */
  double* hessval_;      /* values */
 
  int nnz_jac_ = 0;
  int nnz_L_ = 0;
  int options_g_[4];
  int options_L_[4];
 
  //***************    end   ADOL-C part ***********************************
};
}  // namespace planning
}  // namespace apollo