spline_1d_solver.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.
 *****************************************************************************/
 
#pragma once
 
#include <vector>
 
#include "Eigen/Core"
 
#include "modules/planning/planning_base/proto/math/qp_problem.pb.h"
 
#include "modules/common/math/qp_solver/qp_solver.h"
#include "modules/planning/planning_base/math/smoothing_spline/spline_1d.h"
#include "modules/planning/planning_base/math/smoothing_spline/spline_1d_constraint.h"
#include "modules/planning/planning_base/math/smoothing_spline/spline_1d_kernel.h"
 
namespace apollo {
namespace planning {
 
class Spline1dSolver {
 public:
  Spline1dSolver(const std::vector<double>& x_knots, const uint32_t order)
      : spline_(x_knots, order),
        constraint_(x_knots, order),
        kernel_(x_knots, order) {}
 
  virtual ~Spline1dSolver() = default;
 
  virtual void Reset(const std::vector<double>& x_knots, const uint32_t order) {
    spline_ = Spline1d(x_knots, order);
    constraint_ = Spline1dConstraint(x_knots, order);
    kernel_ = Spline1dKernel(x_knots, order);
  }
 
  virtual Spline1dConstraint* mutable_spline_constraint() {
    return &constraint_;
  }
 
  virtual Spline1dKernel* mutable_spline_kernel() { return &kernel_; }
 
  virtual bool Solve() = 0;
 
  // output
  virtual const Spline1d& spline() const { return spline_; }
 
  // convert qp problem to proto
  void GenerateProblemProto(QuadraticProgrammingProblem* const qp_proto) const;
 
 protected:
  void ConvertMatrixXdToProto(const Eigen::MatrixXd& matrix,
                              QPMatrix* const proto) const;
 
 protected:
  Spline1d spline_;
  Spline1dConstraint constraint_;
  Spline1dKernel kernel_;
 
  int last_num_constraint_ = 0;
  int last_num_param_ = 0;
  bool last_problem_success_ = false;
};
 
}  // namespace planning
}  // namespace apollo