generate_nlp_planner_solver.cpp File Reference

#include <casadi/casadi.hpp>
#include <common/types.hpp>
#include <vector>
#include <functional>
#include <string>
#include <sstream>
#include <iostream>
#include <limits>
#include "parking_planner/configuration.hpp"
#include "parking_planner/parking_planner_types.hpp"
#include "parking_planner/bicycle_model.hpp"
#include "parking_planner/nlp_adapters.hpp"
#include "parking_planner/rungekutta.hpp"

Include dependency graph for generate_nlp_planner_solver.cpp:

Functions
template<class T >
T	make_single_stage_variable (const std::string &name)
std::vector< MX >	make_named_variable (const std::string &name, const std::size_t dimension)
std::string	indexed_name (const std::string &name, const std::size_t index)
template<template< class > class T, typename Y >
Y	convert_to_mx (T< Y > value)
MX	matrix_from_vec_of_vec (const std::vector< std::vector< MX >> &vecvec)
Trajectory< MX >	make_trajectory_variables (std::size_t number_of_stages)
std::vector< Halfplane2D< MX > >	make_halfplane_variables (const std::string &basename, const std::size_t max_obstacle_halfplanes)
std::vector< NLPObstacleStageVariables< MX > >	make_obstacle_stage_variables (const std::string &basename, const std::size_t max_obstacle_halfplanes, const std::size_t max_ego_halfplanes)
NLPObstacle< MX >	create_abstract_obstacle (const std::string &basename, const std::size_t max_obstacle_halfplanes, const std::size_t max_ego_halfplanes)
MX	casadi_dynamics_wrapper (MX state, MX command, MX params)
void	create_dynamics_constraints (const Trajectory< MX > &trajectory, const BicycleModelParameters< MX > &vehicle_parameters, const VehicleState< MX > &current_state, std::vector< MX > &equality_constraints)
void	create_terminal_state_constraint (const Trajectory< MX > &trajectory, const VehicleState< MX > &goal_state, std::vector< MX > &equality_constraints)
void	create_single_stage_obstacle_constraints (const VehicleState< MX > &states, const NLPObstacleStageVariables< MX > &obstacle_variables, const DM &G, const MX &g, const MX &A, const MX &b, std::vector< MX > &equality_constraints, std::vector< MX > &inequality_constraints)
void	create_obstacle_constraints (const Trajectory< MX > &trajectory, const BicycleModelParameters< MX > &vehicle_parameters, const std::vector< NLPObstacle< MX >> &obstacles, std::vector< MX > &equality_constraints, std::vector< MX > &inequality_constraints)
MX	create_cost_function (const Trajectory< MX > &trajectory, const VehicleState< MX > &goal_state, const NLPCostWeights< MX > &cost_weights)
void	generate_info_header (const std::string &shared_library_directory, const std::string &output_filename, const std::size_t number_of_equality_constraints, const std::size_t number_of_inequality_constraints)
int	main (int argc, char *argv[])

Variables
constexpr auto	Nstates = VehicleState<float64_t>::get_serialized_length()
constexpr auto	Ncommands = VehicleCommand<float64_t>::get_serialized_length()
constexpr auto	Nvehicleparams = BicycleModelParameters<float64_t>::get_serialized_length()

Function Documentation

casadi_dynamics_wrapper()

MX casadi_dynamics_wrapper	(	MX	state,
		MX	command,
		MX	params
	)

convert_to_mx()

template<template< class > class T, typename Y >

Y convert_to_mx

(

T< Y >

value

)

create_abstract_obstacle()

NLPObstacle<MX> create_abstract_obstacle	(	const std::string &	basename,
		const std::size_t	max_obstacle_halfplanes,
		const std::size_t	max_ego_halfplanes
	)

create_cost_function()

MX create_cost_function	(	const Trajectory< MX > &	trajectory,
		const VehicleState< MX > &	goal_state,
		const NLPCostWeights< MX > &	cost_weights
	)

create_dynamics_constraints()

void create_dynamics_constraints	(	const Trajectory< MX > &	trajectory,
		const BicycleModelParameters< MX > &	vehicle_parameters,
		const VehicleState< MX > &	current_state,
		std::vector< MX > &	equality_constraints
	)

create_obstacle_constraints()

void create_obstacle_constraints	(	const Trajectory< MX > &	trajectory,
		const BicycleModelParameters< MX > &	vehicle_parameters,
		const std::vector< NLPObstacle< MX >> &	obstacles,
		std::vector< MX > &	equality_constraints,
		std::vector< MX > &	inequality_constraints
	)

create_single_stage_obstacle_constraints()

void create_single_stage_obstacle_constraints	(	const VehicleState< MX > &	states,
		const NLPObstacleStageVariables< MX > &	obstacle_variables,
		const DM &	G,
		const MX &	g,
		const MX &	A,
		const MX &	b,
		std::vector< MX > &	equality_constraints,
		std::vector< MX > &	inequality_constraints
	)

create_terminal_state_constraint()

void create_terminal_state_constraint	(	const Trajectory< MX > &	trajectory,
		const VehicleState< MX > &	goal_state,
		std::vector< MX > &	equality_constraints
	)

generate_info_header()

void generate_info_header	(	const std::string &	shared_library_directory,
		const std::string &	output_filename,
		const std::size_t	number_of_equality_constraints,
		const std::size_t	number_of_inequality_constraints
	)

indexed_name()

std::string indexed_name	(	const std::string &	name,
		const std::size_t	index
	)

main()

int main	(	int	argc,
		char *	argv[]
	)

make_halfplane_variables()

std::vector<Halfplane2D<MX> > make_halfplane_variables	(	const std::string &	basename,
		const std::size_t	max_obstacle_halfplanes
	)

make_named_variable()

std::vector<MX> make_named_variable	(	const std::string &	name,
		const std::size_t	dimension
	)

make_obstacle_stage_variables()

std::vector<NLPObstacleStageVariables<MX> > make_obstacle_stage_variables	(	const std::string &	basename,
		const std::size_t	max_obstacle_halfplanes,
		const std::size_t	max_ego_halfplanes
	)

make_single_stage_variable()

template<class T >

T make_single_stage_variable

(

const std::string &

name

)

make_trajectory_variables()

Trajectory<MX> make_trajectory_variables

(

std::size_t

number_of_stages

)

matrix_from_vec_of_vec()

MX matrix_from_vec_of_vec

(

const std::vector< std::vector< MX >> &

vecvec

)

Variable Documentation

Ncommands

constexpr auto Ncommands = VehicleCommand<float64_t>::get_serialized_length()

constexpr

Nstates

constexpr auto Nstates = VehicleState<float64_t>::get_serialized_length()

constexpr

Nvehicleparams

constexpr auto Nvehicleparams = BicycleModelParameters<float64_t>::get_serialized_length()

constexpr