Autoware.Auto
autoware::common::optimization Namespace Reference

Namespaces

 detail
 

Classes

class  CachedExpression
 
class  CacheStateMachine
 
class  ComputeMode
 
class  EigenComparator
 Generic equality comparison functor for eigen matrices. More...
 
class  Expression
 
class  FixedLineSearch
 Class to use a fixed step length during optimization. More...
 
class  LineSearch
 Base class (CRTP) to mange the step length during optimization. More...
 
class  MoreThuenteLineSearch
 This class describes a More-Thuente line search as presented in the paper "Line Search Algorithms with Guaranteed Sufficient Decrease" by Jorge J. More and David J. Thuente. More...
 
class  NewtonsMethodOptimizer
 Optimizer using the Newton method with line search. More...
 
class  OptimizationOptions
 
class  OptimizationProblem< Derived, DomainValueT, NumJacobianColsT, NumVarsT, ObjectiveT, std::tuple< EqualityConstraints... >, std::tuple< InequalityConstraints... > >
 
class  OptimizationSummary
 
class  Optimizer
 
class  UnconstrainedOptimizationProblem
 

Enumerations

enum  TerminationType { TerminationType::CONVERGENCE = 0U, TerminationType::NO_CONVERGENCE = 1U, TerminationType::FAILURE = 2U }
 Type of termination at the end of an optimization loop. More...
 
enum  ExpressionTerm { ExpressionTerm::SCORE, ExpressionTerm::JACOBIAN, ExpressionTerm::HESSIAN }
 Enum class representing expression terms. More...
 

Variables

template<typename Derived , typename DomainValueT , int NumJacobianColsT, int NumVarsT, typename ObjectiveT , typename EqualityConstraintsT , typename InequalityConstraintsT >
class OPTIMIZATION_PUBLIC OptimizationProblem
 

Enumeration Type Documentation

◆ ExpressionTerm

Enum class representing expression terms.

Enumerator
SCORE 
JACOBIAN 
HESSIAN 

◆ TerminationType

Type of termination at the end of an optimization loop.

Enumerator
CONVERGENCE 
NO_CONVERGENCE 
FAILURE 

Variable Documentation

◆ OptimizationProblem

template<typename Derived , typename DomainValueT , int NumJacobianColsT, int NumVarsT, typename ObjectiveT , typename EqualityConstraintsT , typename InequalityConstraintsT >
class OPTIMIZATION_PUBLIC autoware::common::optimization::OptimizationProblem

A generalized representation of an optimization problem. Constrained implementation classes must implement the following methods: score_opt_(x); jacobian_opt_(x, out); hessian_opt_(x, out);

Template Parameters
DerivedImplementation class
DomainValueTThe type for parameter to be optimized for.
NumJacobianColsTNumber of columns in the jacobian matrix.
NumVarsTNumber of variables.
ObjectiveTObjective implementation class.
EqualityConstraintsTA tuple of equality constraint expressions.
InequalityConstraintsTA tuple of inequality constraint expressions.