Move qp solver to common/math (#62)

* Seperate qp_solver_flags from planning_flags

* Move qp solver from planning to common

modules/planning/math/qp_solver/BUILD → modules/common/math/qp_solver/BUILD

@@ -2,6 +2,19 @@ load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
 
+cc_library(
+    name = "qp_solver_gflags",
+    srcs = [
+        "qp_solver_gflags.cc",
+    ],
+    hdrs = [
+        "qp_solver_gflags.h",
+    ],
+    deps = [
+        "//external:gflags",
+    ],
+)
+
 cc_library(
     name = "qp_solver",
     srcs = [
@@ -25,7 +38,7 @@ cc_library(
     ],
     deps = [
         ":qp_solver",
-        "//modules/planning/common:planning_gflags",
+        "//modules/common/math/qp_solver:qp_solver_gflags",
         "@eigen//:eigen",
         "//third_party/qp_oases",
     ],

modules/planning/math/qp_solver/active_set_qp_solver.cc → modules/common/math/qp_solver/active_set_qp_solver.cc

@@ -17,16 +17,17 @@
 /**
  * @file: active_set_qp_solver.cc
  **/
-#include "modules/planning/math/qp_solver/active_set_qp_solver.h"
+#include "modules/common/math/qp_solver/active_set_qp_solver.h"
 
 #include <algorithm>
 #include <climits>
 #include <vector>
 
-#include "modules/planning/common/planning_gflags.h"
+#include "modules/common/math/qp_solver/qp_solver_gflags.h"
 
 namespace apollo {
-namespace planning {
+namespace common {
+namespace math {
 
 ActiveSetQPSolver::ActiveSetQPSolver(
     const Eigen::MatrixXd& kernel_matrix, const Eigen::MatrixXd& offset,
@@ -192,5 +193,6 @@ bool ActiveSetQPSolver::sanity_check() {
          affine_inequality_matrix_.rows() == affine_inequality_matrix_.rows();
 }
 
-}  // namespace planning
+}  // namespace math
+}  // namespace common
 }  // namespace apollo

modules/planning/math/qp_solver/active_set_qp_solver.h → modules/common/math/qp_solver/active_set_qp_solver.h

@@ -18,15 +18,16 @@
  * @file: active_set_qp_solver.h
  * @brief: wrapper class for active set method in qpOases
  **/
-#ifndef MODULES_PLANNING_MATH_QP_SOLVER_ACTIVE_SET_QP_SOLVER_H_
-#define MODULES_PLANNING_MATH_QP_SOLVER_ACTIVE_SET_QP_SOLVER_H_
+#ifndef MODULES_COMMON_MATH_QP_SOLVER_ACTIVE_SET_QP_SOLVER_H_
+#define MODULES_COMMON_MATH_QP_SOLVER_ACTIVE_SET_QP_SOLVER_H_
 
 #include "qpOASES/include/qpOASES.hpp"
 
-#include "modules/planning/math/qp_solver/qp_solver.h"
+#include "modules/common/math/qp_solver/qp_solver.h"
 
 namespace apollo {
-namespace planning {
+namespace common {
+namespace math {
 
 class ActiveSetQPSolver : public QPSolver {
  public:
@@ -82,6 +83,7 @@ class ActiveSetQPSolver : public QPSolver {
   int max_iteration_ = 1000;
 };
 
-}  // namespace planning
+}  // namespace math
+}  // namespace common
 }  // namespace apollo
-#endif  // MODULES_PLANNING_MATH_QP_SOLVER_ACTIVE_SET_QP_SOLVER_H_
+#endif  // MODULES_COMMON_MATH_QP_SOLVER_ACTIVE_SET_QP_SOLVER_H_

modules/planning/math/qp_solver/qp_solver.cc → modules/common/math/qp_solver/qp_solver.cc

@@ -17,10 +17,11 @@
 /**
  * @file: qp_solver.cc
  **/
-#include "modules/planning/math/qp_solver/qp_solver.h"
+#include "modules/common/math/qp_solver/qp_solver.h"
 
 namespace apollo {
-namespace planning {
+namespace common {
+namespace math {
 
 QPSolver::QPSolver(const Eigen::MatrixXd& kernel_matrix,
                    const Eigen::MatrixXd& offset,
@@ -59,5 +60,6 @@ const Eigen::MatrixXd& QPSolver::affine_inequality_boundary() const {
   return affine_inequality_boundary_;
 }
 
-}  // namespace planning
+}  // namespace math
+}  // namespace common
 }  // namespace apollo

modules/planning/math/qp_solver/qp_solver.h → modules/common/math/qp_solver/qp_solver.h

@@ -23,14 +23,15 @@
  *                          C * x >= d (equality constraint)
  **/
 
-#ifndef MODULES_PLANNING_MATH_QP_SOLVER_QP_SOLVER_H_
-#define MODULES_PLANNING_MATH_QP_SOLVER_QP_SOLVER_H_
+#ifndef MODULES_COMMON_MATH_QP_SOLVER_QP_SOLVER_H_
+#define MODULES_COMMON_MATH_QP_SOLVER_QP_SOLVER_H_
 
 #include "Eigen/Core"
 #include "Eigen/LU"
 
 namespace apollo {
-namespace planning {
+namespace common {
+namespace math {
 
 class QPSolver {
  public:
@@ -60,7 +61,8 @@ class QPSolver {
   Eigen::MatrixXd affine_equality_boundary_;
 };
 
-}  // namespace planning
+}  // namespace math
+}  // namespace common
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_MATH_QP_SOLVER_QP_SOLVER_H_
+#endif  // MODULES_COMMON_MATH_QP_SOLVER_QP_SOLVER_H_

modules/common/math/qp_solver/qp_solver_gflags.cc

+/******************************************************************************
+ * 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.
+ *****************************************************************************/
+
+#include "modules/common/math/qp_solver/qp_solver_gflags.h"
+
+// math : active set solver
+DEFINE_double(default_active_set_eps_num, 1e-7,
+              "qpOases wrapper error control numerator");
+DEFINE_double(default_active_set_eps_den, 1e-7,
+              "qpOases wrapper error control numerator");
+DEFINE_double(default_active_set_eps_iter_ref, 1e-7,
+              "qpOases wrapper error control numerator");
+DEFINE_bool(default_enable_active_set_debug_info, false,
+            "Enable print information");

modules/common/math/qp_solver/qp_solver_gflags.h

+/******************************************************************************
+ * 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.
+ *****************************************************************************/
+
+#ifndef MODULES_PLANNING_MATH_QP_SOLVER_QP_SOLVER_GFLAGS_H_
+#define MODULES_PLANNING_MATH_QP_SOLVER_QP_SOLVER_GFLAGS_H_
+
+#include "gflags/gflags.h"
+
+// math : active set solver
+DECLARE_double(default_active_set_eps_num);
+DECLARE_double(default_active_set_eps_den);
+DECLARE_double(default_active_set_eps_iter_ref);
+DECLARE_bool(default_enable_active_set_debug_info);
+
+#endif /* MODULES_PLANNING_MATH_QP_SOLVER_QP_SOLVER_GFLAGS_H_ */

modules/planning/common/planning_gflags.cc

@@ -40,13 +40,3 @@ DEFINE_double(replanning_threshold, 2.0,
 DEFINE_double(trajectory_resolution, 0.01,
               "The time resolution of "
               "output trajectory.");
-
-// math : active set solver
-DEFINE_double(default_active_set_eps_num, 1e-7,
-              "qpOases wrapper error control numerator");
-DEFINE_double(default_active_set_eps_den, 1e-7,
-              "qpOases wrapper error control numerator");
-DEFINE_double(default_active_set_eps_iter_ref, 1e-7,
-              "qpOases wrapper error control numerator");
-DEFINE_bool(default_enable_active_set_debug_info, false,
-            "Enable print information");

modules/planning/common/planning_gflags.h

@@ -27,10 +27,4 @@ DECLARE_uint64(rtk_trajectory_forward);
 DECLARE_double(replanning_threshold);
 DECLARE_double(trajectory_resolution);
 
-// math : active set solver
-DECLARE_double(default_active_set_eps_num);
-DECLARE_double(default_active_set_eps_den);
-DECLARE_double(default_active_set_eps_iter_ref);
-DECLARE_bool(default_enable_active_set_debug_info);
-
 #endif /* MODULES_PLANNING_COMMON_PLANNING_GFLAGS_H_ */

modules/planning/math/smoothing_spline/BUILD

@@ -104,8 +104,8 @@ cc_library(
         ":spline_1d",
         ":spline_1d_constraint",
         ":spline_1d_kernel",
-        "//modules/planning/math/qp_solver",
-        "//modules/planning/math/qp_solver:active_set_qp_solver",
+        "//modules/common/math/qp_solver",
+        "//modules/common/math/qp_solver:active_set_qp_solver",
         "@eigen//:eigen",
         "@glog//:glog",
     ],
@@ -186,8 +186,8 @@ cc_library(
         ":spline_2d_constraint",
         ":spline_2d_kernel",
         "//modules/common/math:vec2d",
-        "//modules/planning/math/qp_solver",
-        "//modules/planning/math/qp_solver:active_set_qp_solver",
+        "//modules/common/math/qp_solver",
+        "//modules/common/math/qp_solver:active_set_qp_solver",
         "@eigen//:eigen",
     ],
 )

modules/planning/math/smoothing_spline/spline_1d_generator.cc

@@ -23,7 +23,7 @@
 
 #include "modules/planning/math/smoothing_spline/spline_1d_generator.h"
 
-#include "modules/planning/math/qp_solver/active_set_qp_solver.h"
+#include "modules/common/math/qp_solver/active_set_qp_solver.h"
 
 namespace apollo {
 namespace planning {
@@ -64,7 +64,7 @@ bool Spline1dGenerator::solve() {
   const Eigen::MatrixXd& equality_constraint_boundary =
       spline_constraint_.equality_constraint().constraint_boundary();
 
-  qp_solver_.reset(new ActiveSetQPSolver(
+  qp_solver_.reset(new apollo::common::math::ActiveSetQPSolver(
       kernel_matrix, offset, inequality_constraint_matrix,
       inequality_constraint_boundary, equality_constraint_matrix,
       equality_constraint_boundary));

modules/planning/math/smoothing_spline/spline_1d_generator.h

@@ -54,7 +54,7 @@
 #include "Eigen/Core"
 #include "glog/logging.h"
 
-#include "modules/planning/math/qp_solver/qp_solver.h"
+#include "modules/common/math/qp_solver/qp_solver.h"
 #include "modules/planning/math/smoothing_spline/spline_1d.h"
 #include "modules/planning/math/smoothing_spline/spline_1d_constraint.h"
 #include "modules/planning/math/smoothing_spline/spline_1d_kernel.h"
@@ -89,7 +89,7 @@ class Spline1dGenerator {
   Spline1dConstraint spline_constraint_;
   Spline1dKernel spline_kernel_;
 
-  std::unique_ptr<QPSolver> qp_solver_ = nullptr;
+  std::unique_ptr<apollo::common::math::QPSolver> qp_solver_ = nullptr;
   Eigen::MatrixXd init_x_;
   Eigen::MatrixXd init_y_;
   Eigen::MatrixXd init_z_;

modules/planning/math/smoothing_spline/spline_2d_solver.cc

@@ -19,7 +19,7 @@
  **/
 
 #include "modules/planning/math/smoothing_spline/spline_2d_solver.h"
-#include "modules/planning/math/qp_solver/active_set_qp_solver.h"
+#include "modules/common/math/qp_solver/active_set_qp_solver.h"
 
 namespace apollo {
 namespace planning {
@@ -52,7 +52,7 @@ bool Spline2dSolver::solve() {
   const Eigen::MatrixXd& equality_constraint_boundary =
       constraint_.equality_constraint().constraint_boundary();
 
-  qp_solver_.reset(new ActiveSetQPSolver(
+  qp_solver_.reset(new apollo::common::math::ActiveSetQPSolver(
       kernel_matrix, offset, inequality_constraint_matrix,
       inequality_constraint_boundary, equality_constraint_matrix,
       equality_constraint_boundary));

modules/planning/math/smoothing_spline/spline_2d_solver.h

@@ -24,7 +24,7 @@
 #include <memory>
 #include <vector>
 
-#include "modules/planning/math/qp_solver/qp_solver.h"
+#include "modules/common/math/qp_solver/qp_solver.h"
 #include "modules/planning/math/smoothing_spline/spline_2d.h"
 #include "modules/planning/math/smoothing_spline/spline_2d_constraint.h"
 #include "modules/planning/math/smoothing_spline/spline_2d_kernel.h"
@@ -51,7 +51,7 @@ class Spline2dSolver {
   Spline2d spline_;
   Spline2dKernel kernel_;
   Spline2dConstraint constraint_;
-  std::unique_ptr<QPSolver> qp_solver_ = nullptr;
+  std::unique_ptr<apollo::common::math::QPSolver> qp_solver_ = nullptr;
 };
 
 }  // namespace planning