gurobi_solver.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The Astrobee platform is 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.
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#ifndef TRAJ_OPT_PRO_GUROBI_SOLVER_H_
#define TRAJ_OPT_PRO_GUROBI_SOLVER_H_
 
#include <traj_opt_pro/gurobi_trajectory.h>
 
#include <vector>
 
class GRBEnv;
 
namespace traj_opt {
 
class GurobiSolver : public TrajectorySolver {
 public:
  GurobiSolver();
  bool solveTrajectory(
      const std::vector<Waypoint> &waypnts, const std::vector<MatD> &A,
      const std::vector<VecD> &b, const std::vector<decimal_t> &ds,
      decimal_t epsilon = 0,
      boost::shared_ptr<Vec3Vec> points = boost::shared_ptr<Vec3Vec>(),
      decimal_t upsilon = 0);
  boost::shared_ptr<Trajectory> getTrajectory();
  void addPathCost(const std::vector<MatD> &A, const std::vector<VecD> &b,
                   double epsilon);
  bool solveConvexifyed(const std::vector<Waypoint> &waypnts, const MatD &Aobs,
                        const VecD &bobs, const MatD &Aenv, const VecD &benv,
                        const std::vector<decimal_t> &ds);
  void seedDs(boost::shared_ptr<Vec3Vec> points, std::vector<decimal_t> *dsp);
  void sikangSeed(boost::shared_ptr<Vec3Vec> points,
                  std::vector<decimal_t> *dsp, decimal_t v0,
                  decimal_t ratio = 1.0);
  bool use_lp_{false};
  void setPolyParams(int degree, PolyType type, int order);
  void setConParam(ConstraintMode mode, int num) {
    con_mode_ = mode;
    num_sample_ = num;
  }
  decimal_t getCost() { return cost_; }
 
  bool checkMax(decimal_t r);
 
 private:
  boost::shared_ptr<LegendreTrajectory> ltraj_;
  decimal_t cost_;
  // gurobi stuff
  boost::shared_ptr<GRBEnv> grb_env_;
  bool initializeGurobi();
 
  void addLineCost(boost::shared_ptr<Vec3Vec> points, double upsilon);
  int degree_, order_;
  PolyType polytype_;
  ConstraintMode con_mode_;
  int num_sample_;
};
}  // namespace traj_opt
#endif  // TRAJ_OPT_PRO_GUROBI_SOLVER_H_