fem_pos_deviation_smoother_config.proto

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syntax = "proto2";
 
package apollo.planning;
 
message FemPosDeviationSmootherConfig {
  optional double weight_fem_pos_deviation = 2 [default = 1.0e10];
  optional double weight_ref_deviation = 3 [default = 1.0];
  optional double weight_path_length = 4 [default = 1.0];
  optional bool apply_curvature_constraint = 5 [default = false];
  optional double weight_curvature_constraint_slack_var = 6 [default = 1.0e2];
  optional double curvature_constraint = 7 [default = 0.2];
  optional bool use_sqp = 8 [default = false];
  optional double sqp_ftol = 9 [default = 1e-4];
  optional double sqp_ctol = 10 [default = 1e-3];
  optional int32 sqp_pen_max_iter = 11 [default = 10];
  optional int32 sqp_sub_max_iter = 12 [default = 100];
 
  // osqp settings
  optional int32 max_iter = 100 [default = 500];
  // time_limit set to be 0.0 meaning no time limit
  optional double time_limit = 101 [default = 0.0];
  optional bool verbose = 102 [default = false];
  optional bool scaled_termination = 103 [default = true];
  optional bool warm_start = 104 [default = true];
 
  // ipopt settings
  optional int32 print_level = 200 [default = 0];
  optional int32 max_num_of_iterations = 201 [default = 500];
  optional int32 acceptable_num_of_iterations = 202 [default = 15];
  optional double tol = 203 [default = 1e-8];
  optional double acceptable_tol = 204 [default = 1e-1];
}