Apollo 10.0
自动驾驶开放平台
qp_solver.h
浏览该文件的文档.
1/******************************************************************************
2 * Copyright 2017 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
26#pragma once
27
28#include "Eigen/Core"
29#include "Eigen/LU"
30
31namespace apollo {
32namespace common {
33namespace math {
34
35class QpSolver {
36 public:
37 QpSolver(const Eigen::MatrixXd& kernel_matrix, const Eigen::MatrixXd& offset,
38 const Eigen::MatrixXd& affine_inequality_matrix,
39 const Eigen::MatrixXd& affine_inequality_boundary,
40 const Eigen::MatrixXd& affine_equality_matrix,
41 const Eigen::MatrixXd& affine_equality_boundary);
42 virtual ~QpSolver() = default;
43
45 virtual void set_pos_definite_hessian() {}
46 virtual void EnableCholeskyRefactorisation(const int) {}
47 virtual void SetTerminationTolerance(const double) {}
48 virtual bool Solve() = 0;
49
50 const Eigen::MatrixXd& params() const;
51 const Eigen::MatrixXd& kernel_matrix() const;
52 const Eigen::MatrixXd& offset() const;
53 const Eigen::MatrixXd& affine_equality_matrix() const;
54 const Eigen::MatrixXd& affine_equality_boundary() const;
55 const Eigen::MatrixXd& affine_inequality_matrix() const;
56 const Eigen::MatrixXd& affine_inequality_boundary() const;
57
58 protected:
59 virtual bool sanity_check() = 0;
60 Eigen::MatrixXd params_;
61 Eigen::MatrixXd kernel_matrix_;
62 Eigen::MatrixXd offset_;
65 Eigen::MatrixXd affine_equality_matrix_;
67};
68
69} // namespace math
70} // namespace common
71} // namespace apollo
const Eigen::MatrixXd & offset() const
Definition qp_solver.cc:45
const Eigen::MatrixXd & affine_inequality_matrix() const
Definition qp_solver.cc:55
virtual void set_pos_definite_hessian()
Definition qp_solver.h:45
Eigen::MatrixXd affine_equality_boundary_
Definition qp_solver.h:66
Eigen::MatrixXd affine_inequality_boundary_
Definition qp_solver.h:64
Eigen::MatrixXd kernel_matrix_
Definition qp_solver.h:61
virtual void set_pos_semi_definite_hessian()
Definition qp_solver.h:44
Eigen::MatrixXd affine_equality_matrix_
Definition qp_solver.h:65
virtual void EnableCholeskyRefactorisation(const int)
Definition qp_solver.h:46
const Eigen::MatrixXd & affine_equality_boundary() const
Definition qp_solver.cc:51
const Eigen::MatrixXd & affine_equality_matrix() const
Definition qp_solver.cc:47
const Eigen::MatrixXd & affine_inequality_boundary() const
Definition qp_solver.cc:59
const Eigen::MatrixXd & params() const
Definition qp_solver.cc:39
Eigen::MatrixXd affine_inequality_matrix_
Definition qp_solver.h:63
virtual void SetTerminationTolerance(const double)
Definition qp_solver.h:47
const Eigen::MatrixXd & kernel_matrix() const
Definition qp_solver.cc:41
class register implement
Definition arena_queue.h:37