nlp_path_planner.hpp

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// Copyright 2020 Embotech AG, Zurich, Switzerland. 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.
 
#ifndef PARKING_PLANNER__NLP_PATH_PLANNER_HPP_
#define PARKING_PLANNER__NLP_PATH_PLANNER_HPP_
 
#include <casadi/casadi.hpp>
#include <common/types.hpp>
#include <vector>
 
#include "visibility_control.hpp"
#include "parking_planner_types.hpp"
#include "nlp_adapters.hpp"
#include "bicycle_model.hpp"
 
namespace autoware
{
 
namespace motion
{
 
namespace planning
{
 
namespace parking_planner
{
 
using autoware::common::types::float64_t;
struct NLPResults
{
  // cppcheck-suppress syntaxError
  Trajectory<float64_t> m_trajectory;
  casadi::Dict m_solve_info;
};
 
class PARKING_PLANNER_PUBLIC NLPPathPlanner
{
public:
  NLPPathPlanner(
    const NLPCostWeights<float64_t> & cost_weights,
    const VehicleState<float64_t> & lower_state_bounds,
    const VehicleState<float64_t> & upper_state_bounds,
    const VehicleCommand<float64_t> & lower_command_bounds,
    const VehicleCommand<float64_t> & upper_command_bounds
  );
 
  NLPResults plan_nlp(
    const VehicleState<float64_t> & current_state,
    const VehicleState<float64_t> & goal_state,
    const Trajectory<float64_t> & initial_guess,
    const std::vector<Polytope2D<float64_t>> & obstacles,
    const BicycleModelParameters<float64_t> & model_parameters
  ) const;
 
  bool check_trajectory(
    const Trajectory<float64_t> & trajectory,
    const VehicleState<float64_t> & initial_state,
    const VehicleState<float64_t> & goal_state,
    const std::vector<Polytope2D<float64_t>> & obstacles,
    const BicycleModelParameters<float64_t> & model_parameters,
    const float64_t tolerance
  ) const;
 
private:
  NLPCostWeights<float64_t> m_cost_weights;
  VehicleState<float64_t> m_lower_state_bounds;
  VehicleState<float64_t> m_upper_state_bounds;
  VehicleCommand<float64_t> m_lower_command_bounds;
  VehicleCommand<float64_t> m_upper_command_bounds;
};
 
 
}  // namespace parking_planner
}  // namespace planning
}  // namespace motion
}  // namespace autoware
 
#endif  // PARKING_PLANNER__NLP_PATH_PLANNER_HPP_