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       1                 :            : // Copyright 2019 the Autoware Foundation
       2                 :            : //
       3                 :            : // Licensed under the Apache License, Version 2.0 (the "License");
       4                 :            : // you may not use this file except in compliance with the License.
       5                 :            : // You may obtain a copy of the License at
       6                 :            : //
       7                 :            : //     http://www.apache.org/licenses/LICENSE-2.0
       8                 :            : //
       9                 :            : // Unless required by applicable law or agreed to in writing, software
      10                 :            : // distributed under the License is distributed on an "AS IS" BASIS,
      11                 :            : // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
      12                 :            : // See the License for the specific language governing permissions and
      13                 :            : // limitations under the License.
      14                 :            : //
      15                 :            : // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
      16                 :            : 
      17                 :            : #ifndef OPTIMIZATION__OPTIMIZER_HPP_
      18                 :            : #define OPTIMIZATION__OPTIMIZER_HPP_
      19                 :            : 
      20                 :            : #include <optimization/optimizer_options.hpp>
      21                 :            : #include <optimization/line_search/line_search.hpp>
      22                 :            : #include <Eigen/SVD>
      23                 :            : 
      24                 :            : namespace autoware
      25                 :            : {
      26                 :            : namespace common
      27                 :            : {
      28                 :            : namespace optimization
      29                 :            : {
      30                 :            : // Optimization solver base class(CRTP) for a given optimization problem.
      31                 :            : template<typename Derived>
      32                 :            : class OPTIMIZATION_PUBLIC Optimizer : public common::helper_functions::crtp<Derived>
      33                 :            : {
      34                 :            : public:
      35                 :            :   /// Solves `x_out` for an objective `optimization_problem` and an initial value `x0`
      36                 :            :   /// \tparam OptimizationProblemT Optimization problem type. Must be an
      37                 :            :   /// implementation of `common::optimization::OptimizationProblem`.
      38                 :            :   /// \tparam DomainValueT Type of the parameter
      39                 :            :   /// \tparam EigenSolverT Type of eigen solver to be used internallt for solving the
      40                 :            :   /// necessary linear equations. By default set to `Eigen::LDLT`.
      41                 :            :   /// \param optimization_problem optimization_problem optimization objective
      42                 :            :   /// \param x0 initial value
      43                 :            :   /// \param x_out optimized value
      44                 :            :   /// \return summary object
      45                 :            :   template<
      46                 :            :     typename OptimizationProblemT,
      47                 :            :     typename DomainValueT,
      48                 :            :     typename EigenSolverT = Eigen::LDLT<typename OptimizationProblemT::Hessian>>
      49                 :            :   OptimizationSummary solve(
      50                 :            :     OptimizationProblemT & optimization_problem,
      51                 :            :     const DomainValueT & x0,
      52                 :            :     DomainValueT & x_out)
      53                 :            :   {
      54                 :            :     return this->impl().template solve_<OptimizationProblemT, DomainValueT, EigenSolverT>(
      55                 :         16 :       optimization_problem, x0, x_out);
      56                 :            :   }
      57                 :            : };
      58                 :            : 
      59                 :            : }  // namespace optimization
      60                 :            : }  // namespace common
      61                 :            : }  // namespace autoware
      62                 :            : 
      63                 :            : #endif  // OPTIMIZATION__OPTIMIZER_HPP_