optimizer_options.hpp

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// Copyright 2019 the Autoware Foundation
//
// 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.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
#ifndef OPTIMIZATION__OPTIMIZER_OPTIONS_HPP_
#define OPTIMIZATION__OPTIMIZER_OPTIONS_HPP_
 
#include <common/types.hpp>
#include <optimization/visibility_control.hpp>
#include <limits>
#include <cstdint>
 
using autoware::common::types::float64_t;
 
namespace autoware
{
namespace common
{
namespace optimization
{
enum class TerminationType
{
  // Optimizer could converge according to the criteria specified in the used
  CONVERGENCE = 0U,
  // Optimizer finished without reaching convergence.
  NO_CONVERGENCE = 1U,
  // An error occurred during optimization and the result is not usable.
  // Usually indicates a numerical issue.
  FAILURE = 2U
};
 
// Optimization options class for newton's method.
class OPTIMIZATION_PUBLIC OptimizationOptions
{
public:
  OptimizationOptions(
    uint64_t max_num_iterations = std::numeric_limits<int64_t>::max(),
    float64_t function_tolerance = 0.0, float64_t parameter_tolerance = 0.0,
    float64_t gradient_tolerance = 0.0);
 
  uint64_t max_num_iterations() const noexcept;
  float64_t function_tolerance() const noexcept;
  float64_t parameter_tolerance() const noexcept;
  float64_t gradient_tolerance() const noexcept;
 
private:
  uint64_t m_max_num_iterations;
  float64_t m_function_tolerance;
  float64_t m_parameter_tolerance;
  float64_t m_gradient_tolerance;
};
 
// Optimization summary class.
class OPTIMIZATION_PUBLIC OptimizationSummary
{
public:
  OptimizationSummary(float64_t dist, TerminationType termination_type, uint64_t iter);
 
  float64_t estimated_distance_to_optimum() const noexcept;
  TerminationType termination_type() const noexcept;
  uint64_t number_of_iterations_made() const noexcept;
 
private:
  float64_t m_estimated_distance_to_optimum;
  uint64_t m_number_of_iterations_made;
  TerminationType m_termination_type;
};
 
}  // namespace optimization
}  // namespace common
}  // namespace autoware
 
#endif  // OPTIMIZATION__OPTIMIZER_OPTIONS_HPP_