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提交 d5f6e152 编写于 作者: L Liangliang Zhang
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Planning: moved math related classes/functions into planning/math.

上级 8ec7553d
隐藏空白更改
内联 并排
Showing with 93 addition and 97 deletion
modules/planning/lattice/trajectory_generation/BUILD
浏览文件 @ d5f6e152
......@@ -30,12 +30,9 @@ cc_library(
"trajectory1d_generator.h",
],
deps = [
":active_set_augmented_lateral_qp_optimizer",
":active_set_lateral_qp_optimizer",
":end_condition_sampler",
":lateral_trajectory_optimizer",
":lateral_trajectory_optimizer_interface",
":osqp_lateral_qp_optimizer",
"//modules/common",
"//modules/planning/common:planning_gflags",
"//modules/planning/lattice/behavior:path_time_graph",
......@@ -47,6 +44,7 @@ cc_library(
"//modules/planning/lattice/trajectory1d:standing_still_trajectory1d",
"//modules/planning/math/curve1d:quartic_polynomial_curve1d",
"//modules/planning/math/curve1d:quintic_polynomial_curve1d",
"//modules/planning/math/finite_element_qp",
"//modules/planning/proto:lattice_sampling_config_proto",
"//modules/planning/proto:lattice_structure_proto",
],
......@@ -157,62 +155,4 @@ cc_library(
],
)
cc_library(
name = "lateral_qp_optimizer",
srcs = [
"lateral_qp_optimizer.cc",
],
hdrs = [
"lateral_qp_optimizer.h",
],
deps = [
"//framework:cybertron",
#"//modules/planning/lattice/behavior:path_time_graph",
"//modules/planning/lattice/trajectory1d:piecewise_jerk_trajectory1d",
],
)
cc_library(
name = "active_set_lateral_qp_optimizer",
srcs = [
"active_set_lateral_qp_optimizer.cc",
],
hdrs = [
"active_set_lateral_qp_optimizer.h",
],
deps = [
":lateral_qp_optimizer",
"@qpOASES",
],
)
cc_library(
name = "osqp_lateral_qp_optimizer",
srcs = [
"osqp_lateral_qp_optimizer.cc",
],
hdrs = [
"osqp_lateral_qp_optimizer.h",
],
deps = [
":lateral_qp_optimizer",
"@eigen",
"@osqp",
],
)
cc_library(
name = "active_set_augmented_lateral_qp_optimizer",
srcs = [
"active_set_augmented_lateral_qp_optimizer.cc",
],
hdrs = [
"active_set_augmented_lateral_qp_optimizer.h",
],
deps = [
":lateral_qp_optimizer",
"@qpOASES",
],
)
cpplint()
modules/planning/lattice/trajectory_generation/trajectory1d_generator.cc
浏览文件 @ d5f6e152
......@@ -30,8 +30,8 @@
#include "modules/planning/lattice/trajectory1d/constant_deceleration_trajectory1d.h"
#include "modules/planning/lattice/trajectory1d/piecewise_jerk_trajectory1d.h"
#include "modules/planning/lattice/trajectory1d/standing_still_trajectory1d.h"
#include "modules/planning/lattice/trajectory_generation/active_set_lateral_qp_optimizer.h"
#include "modules/planning/lattice/trajectory_generation/lateral_trajectory_optimizer.h"
#include "modules/planning/math/finite_element_qp/active_set_lateral_qp_optimizer.h"
namespace apollo {
namespace planning {
......
modules/planning/math/finite_element_qp/BUILD 0 → 100644
浏览文件 @ d5f6e152
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "finite_element_qp",
deps = [
":active_set_augmented_lateral_qp_optimizer",
":active_set_lateral_qp_optimizer",
":lateral_qp_optimizer",
":osqp_lateral_qp_optimizer",
],
)
cc_library(
name = "lateral_qp_optimizer",
srcs = [
"lateral_qp_optimizer.cc",
],
hdrs = [
"lateral_qp_optimizer.h",
],
deps = [
"//framework:cybertron",
"//modules/planning/lattice/trajectory1d:piecewise_jerk_trajectory1d",
],
)
cc_library(
name = "active_set_lateral_qp_optimizer",
srcs = [
"active_set_lateral_qp_optimizer.cc",
],
hdrs = [
"active_set_lateral_qp_optimizer.h",
],
deps = [
":lateral_qp_optimizer",
"@qpOASES",
],
)
cc_library(
name = "osqp_lateral_qp_optimizer",
srcs = [
"osqp_lateral_qp_optimizer.cc",
],
hdrs = [
"osqp_lateral_qp_optimizer.h",
],
deps = [
":lateral_qp_optimizer",
"@eigen",
"@osqp",
],
)
cc_library(
name = "active_set_augmented_lateral_qp_optimizer",
srcs = [
"active_set_augmented_lateral_qp_optimizer.cc",
],
hdrs = [
"active_set_augmented_lateral_qp_optimizer.h",
],
deps = [
":lateral_qp_optimizer",
"@qpOASES",
],
)
cpplint()
modules/planning/lattice/trajectory_generation/active_set_augmented_lateral_qp_optimizer.cc → modules/planning/math/finite_element_qp/active_set_augmented_lateral_qp_optimizer.cc
浏览文件 @ d5f6e152
......@@ -14,7 +14,7 @@
* limitations under the License.
*****************************************************************************/
#include "modules/planning/lattice/trajectory_generation/active_set_augmented_lateral_qp_optimizer.h"
#include "modules/planning/math/finite_element_qp/active_set_augmented_lateral_qp_optimizer.h"
#include "cybertron/common/log.h"
#include "qpOASES.hpp"
......
modules/planning/lattice/trajectory_generation/active_set_augmented_lateral_qp_optimizer.h → modules/planning/math/finite_element_qp/active_set_augmented_lateral_qp_optimizer.h
浏览文件 @ d5f6e152
......@@ -20,14 +20,13 @@
#pragma once
#include <array>
#include <memory>
#include <utility>
#include <vector>
#include "modules/planning/lattice/trajectory1d/piecewise_jerk_trajectory1d.h"
#include "modules/planning/lattice/trajectory_generation/lateral_qp_optimizer.h"
#include "modules/planning/math/finite_element_qp/lateral_qp_optimizer.h"
namespace apollo {
namespace planning {
......@@ -45,5 +44,3 @@ class ActiverSetAugmentedLateralQPOptimizer : public LateralQPOptimizer {
} // namespace planning
} // namespace apollo
modules/planning/lattice/trajectory_generation/active_set_lateral_qp_optimizer.cc → modules/planning/math/finite_element_qp/active_set_lateral_qp_optimizer.cc
浏览文件 @ d5f6e152
......@@ -14,7 +14,7 @@
* limitations under the License.
*****************************************************************************/
#include "modules/planning/lattice/trajectory_generation/active_set_lateral_qp_optimizer.h"
#include "modules/planning/math/finite_element_qp/active_set_lateral_qp_optimizer.h"
#include "cybertron/common/log.h"
#include "qpOASES.hpp"
......
modules/planning/lattice/trajectory_generation/active_set_lateral_qp_optimizer.h → modules/planning/math/finite_element_qp/active_set_lateral_qp_optimizer.h
浏览文件 @ d5f6e152
......@@ -20,14 +20,13 @@
#pragma once
#include <array>
#include <memory>
#include <utility>
#include <vector>
#include "modules/planning/lattice/trajectory1d/piecewise_jerk_trajectory1d.h"
#include "modules/planning/lattice/trajectory_generation/lateral_qp_optimizer.h"
#include "modules/planning/math/finite_element_qp/lateral_qp_optimizer.h"
namespace apollo {
namespace planning {
......@@ -45,5 +44,3 @@ class ActiverSetLateralQPOptimizer : public LateralQPOptimizer {
} // namespace planning
} // namespace apollo
modules/planning/lattice/trajectory_generation/lateral_qp_optimizer.cc → modules/planning/math/finite_element_qp/lateral_qp_optimizer.cc
浏览文件 @ d5f6e152
......@@ -14,7 +14,7 @@
* limitations under the License.
*****************************************************************************/
#include "modules/planning/lattice/trajectory_generation/lateral_qp_optimizer.h"
#include "modules/planning/math/finite_element_qp/lateral_qp_optimizer.h"
#include "cybertron/common/log.h"
......
modules/planning/lattice/trajectory_generation/lateral_qp_optimizer.h → modules/planning/math/finite_element_qp/lateral_qp_optimizer.h
浏览文件 @ d5f6e152
......@@ -20,14 +20,11 @@
#pragma once
#include <array>
#include <memory>
#include <utility>
#include <vector>
#include "qpOASES.hpp"
#include "modules/common/proto/pnc_point.pb.h"
#include "modules/planning/lattice/trajectory1d/piecewise_jerk_trajectory1d.h"
......@@ -59,5 +56,3 @@ class LateralQPOptimizer {
} // namespace planning
} // namespace apollo
modules/planning/lattice/trajectory_generation/osqp_lateral_qp_optimizer.cc → modules/planning/math/finite_element_qp/osqp_lateral_qp_optimizer.cc
浏览文件 @ d5f6e152
......@@ -14,7 +14,7 @@
* limitations under the License.
*****************************************************************************/
#include "modules/planning/lattice/trajectory_generation/osqp_lateral_qp_optimizer.h"
#include "modules/planning/math/finite_element_qp/osqp_lateral_qp_optimizer.h"
#include <algorithm>
......
modules/planning/lattice/trajectory_generation/osqp_lateral_qp_optimizer.h → modules/planning/math/finite_element_qp/osqp_lateral_qp_optimizer.h
浏览文件 @ d5f6e152
......@@ -20,7 +20,6 @@
#pragma once
#include <array>
#include <utility>
#include <vector>
......@@ -29,7 +28,7 @@
#include "osqp/include/osqp.h"
#include "modules/planning/lattice/trajectory1d/piecewise_jerk_trajectory1d.h"
#include "modules/planning/lattice/trajectory_generation/lateral_qp_optimizer.h"
#include "modules/planning/math/finite_element_qp/lateral_qp_optimizer.h"
namespace apollo {
namespace planning {
......@@ -58,5 +57,3 @@ class OsqpLateralQPOptimizer : public LateralQPOptimizer {
} // namespace planning
} // namespace apollo
modules/planning/toolkits/optimizers/qp_piecewise_jerk_path/BUILD
浏览文件 @ d5f6e152
......@@ -29,6 +29,7 @@ cc_library(
"//modules/planning/math:polynomial_xd",
"//modules/planning/math/curve1d:polynomial_curve1d",
"//modules/planning/math/curve1d:quintic_polynomial_curve1d",
"//modules/planning/math/finite_element_qp",
"//modules/planning/math/smoothing_spline:active_set_spline_1d_solver",
"//modules/planning/proto:planning_proto",
"//modules/planning/reference_line",
......
modules/planning/toolkits/optimizers/qp_piecewise_jerk_path/qp_piecewise_jerk_path_optimizer.cc
浏览文件 @ d5f6e152
......@@ -24,8 +24,8 @@
#include <algorithm>
#include "modules/common/time/time.h"
#include "modules/planning/lattice/trajectory_generation/active_set_augmented_lateral_qp_optimizer.h"
#include "modules/planning/lattice/trajectory_generation/active_set_lateral_qp_optimizer.h"
#include "modules/planning/math/finite_element_qp/active_set_augmented_lateral_qp_optimizer.h"
#include "modules/planning/math/finite_element_qp/active_set_lateral_qp_optimizer.h"
namespace apollo {
namespace planning {
......@@ -38,21 +38,19 @@ namespace {
std::vector<std::pair<double, double>>::iterator min_pair_first(
std::vector<std::pair<double, double>>::iterator begin,
std::vector<std::pair<double, double>>::iterator end) {
return std::min_element(begin, end,
[](const std::pair<double, double>& lhs,
const std::pair<double, double>& rhs) {
return lhs.first < rhs.first;
});
return std::min_element(begin, end, [](const std::pair<double, double>& lhs,
const std::pair<double, double>& rhs) {
return lhs.first < rhs.first;
});
}
std::vector<std::pair<double, double>>::iterator max_pair_second(
std::vector<std::pair<double, double>>::iterator begin,
std::vector<std::pair<double, double>>::iterator end) {
return std::max_element(begin, end,
[](const std::pair<double, double>& lhs,
const std::pair<double, double>& rhs) {
return lhs.second < rhs.second;
});
return std::max_element(begin, end, [](const std::pair<double, double>& lhs,
const std::pair<double, double>& rhs) {
return lhs.second < rhs.second;
});
}
void assign_pair_first(std::vector<std::pair<double, double>>::iterator begin,
......
modules/planning/toolkits/optimizers/qp_piecewise_jerk_path/qp_piecewise_jerk_path_optimizer.h
浏览文件 @ d5f6e152
......@@ -20,14 +20,13 @@
#pragma once
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include "modules/common/proto/pnc_point.pb.h"
#include "modules/planning/lattice/trajectory_generation/lateral_qp_optimizer.h"
#include "modules/planning/math/finite_element_qp/lateral_qp_optimizer.h"
#include "modules/planning/proto/planning_config.pb.h"
#include "modules/planning/proto/qp_piecewise_jerk_path_config.pb.h"
#include "modules/planning/toolkits/optimizers/path_optimizer.h"
......
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