qp_solver_osqp.hpp

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// Copyright 2018-2021 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.
 
#ifndef TRAJECTORY_FOLLOWER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
#define TRAJECTORY_FOLLOWER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
 
#include "trajectory_follower/qp_solver/qp_solver_interface.hpp"
 
#include "common/types.hpp"
#include "eigen3/Eigen/Dense"
#include "osqp_interface/osqp_interface.hpp"
#include "rclcpp/rclcpp.hpp"
#include "trajectory_follower/visibility_control.hpp"
 
namespace autoware
{
namespace motion
{
namespace control
{
namespace trajectory_follower
{
using autoware::common::types::float64_t;
using autoware::common::types::bool8_t;
class TRAJECTORY_FOLLOWER_PUBLIC QPSolverOSQP : public QPSolverInterface
{
public:
  explicit QPSolverOSQP(const rclcpp::Logger & logger);
 
  virtual ~QPSolverOSQP() = default;
 
  bool8_t solve(
    const Eigen::MatrixXd & h_mat, const Eigen::MatrixXd & f_vec, const Eigen::MatrixXd & a,
    const Eigen::VectorXd & lb, const Eigen::VectorXd & ub, const Eigen::VectorXd & lb_a,
    const Eigen::VectorXd & ub_a, Eigen::VectorXd & u) override;
 
private:
  autoware::common::osqp::OSQPInterface osqpsolver_;
  rclcpp::Logger logger_;
};
}  // namespace trajectory_follower
}  // namespace control
}  // namespace motion
}  // namespace autoware
#endif  // TRAJECTORY_FOLLOWER__QP_SOLVER__QP_SOLVER_OSQP_HPP_