piecewise_jerk_speed_problem.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 "modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_problem.h"
 
namespace apollo {
namespace planning {
 
/*
 * @brief:
 * This class solve the path time optimization problem:
 * s
 * |
 * |                       P(t1, s1)  P(t2, s2)
 * |            P(t0, s0)                       ... P(t(k-1), s(k-1))
 * |P(start)
 * |
 * |________________________________________________________ t
 *
 * we suppose t(k+1) - t(k) == t(k) - t(k-1)
 *
 * Given the s, s', s'' at P(start),  The goal is to find t0, t1, ... t(k-1)
 * which makes the line P(start), P0, P(1) ... P(k-1) "smooth".
 */
 
class PiecewiseJerkSpeedProblem : public PiecewiseJerkProblem {
 public:
  PiecewiseJerkSpeedProblem(const size_t num_of_knots, const double delta_s,
                            const std::array<double, 3>& x_init);
 
  virtual ~PiecewiseJerkSpeedProblem() = default;
 
  void set_dx_ref(const double weight_dx_ref, const double dx_ref);
 
  void set_dx_ref(const std::vector<double>& weight_dx_ref,
                  const std::vector<double>& dx_ref);
 
  void set_penalty_dx(std::vector<double> penalty_dx);
 
 protected:
  // naming convention follows osqp solver.
  void CalculateKernel(std::vector<c_float>* P_data,
                       std::vector<c_int>* P_indices,
                       std::vector<c_int>* P_indptr) override;
 
  void CalculateOffset(std::vector<c_float>* q) override;
 
  OSQPSettings* SolverDefaultSettings() override;
 
  bool has_dx_ref_ = false;
  std::vector<double> dx_ref_;
  std::vector<double> weight_dx_ref_;
  std::vector<double> penalty_dx_;
};
 
}  // namespace planning
}  // namespace apollo