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| Original file line number | Diff line number | Diff line change |
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@@ -68,7 +68,7 @@ Changelog for package tesseract_motion_planners | |
| * More compact descartes collision logging output (`#460 <https://github.com/tesseract-robotics/tesseract_planning/issues/460>`_) | ||
| * Better debugging feedback on failed Descartes plan (`#401 <https://github.com/tesseract-robotics/tesseract_planning/issues/401>`_) | ||
| Co-authored-by: Levi Armstrong <[email protected]> | ||
| * Add convex_solver_settings to TrajOptIfoptDefaultSolverProfile (`#425 <https://github.com/tesseract-robotics/tesseract_planning/issues/425>`_) | ||
| * Add convex_solver_settings to TrajOptIfoptOSQPSolverProfile (`#425 <https://github.com/tesseract-robotics/tesseract_planning/issues/425>`_) | ||
| Co-authored-by: Levi Armstrong <[email protected]> | ||
| * Fix descartes planner check if the graph built | ||
| * Add time parameterization interface (`#455 <https://github.com/tesseract-robotics/tesseract_planning/issues/455>`_) | ||
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| /** | ||
| * @file trajopt_osqp_solver_profile.h | ||
| * @brief | ||
| * | ||
| * @author Levi Armstrong | ||
| * @date December 13, 2020 | ||
| * @version TODO | ||
| * @bug No known bugs | ||
| * | ||
| * @copyright Copyright (c) 2020, Southwest Research Institute | ||
| * | ||
| * @par License | ||
| * Software License Agreement (Apache License) | ||
| * @par | ||
| * 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 | ||
| * @par | ||
| * 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 TESSERACT_MOTION_PLANNERS_TRAJOPT_IFOPT_OSQP_SOLVER_PROFILE_H | ||
| #define TESSERACT_MOTION_PLANNERS_TRAJOPT_IFOPT_OSQP_SOLVER_PROFILE_H | ||
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| #include <tesseract_common/macros.h> | ||
| TESSERACT_COMMON_IGNORE_WARNINGS_PUSH | ||
| #include <memory> | ||
| #include <trajopt_sqp/fwd.h> | ||
| #include <trajopt_sqp/types.h> | ||
| TESSERACT_COMMON_IGNORE_WARNINGS_POP | ||
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| #include <tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_profile.h> | ||
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| namespace OsqpEigen | ||
| { | ||
| class Settings; | ||
| } | ||
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| namespace boost::serialization | ||
| { | ||
| template <class Archive> | ||
| void serialize(Archive& ar, OsqpEigen::Settings& osqp_eigen_settings, const unsigned int version); // NOLINT | ||
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| template <class Archive> | ||
| void serialize(Archive& ar, trajopt_sqp::SQPParameters& params, const unsigned int version); // NOLINT | ||
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| } // namespace boost::serialization | ||
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| namespace tesseract_planning | ||
| { | ||
| /** @brief The contains the default solver parameters available for setting up TrajOpt */ | ||
| class TrajOptIfoptOSQPSolverProfile : public TrajOptIfoptSolverProfile | ||
| { | ||
| public: | ||
| using Ptr = std::shared_ptr<TrajOptIfoptOSQPSolverProfile>; | ||
| using ConstPtr = std::shared_ptr<const TrajOptIfoptOSQPSolverProfile>; | ||
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| TrajOptIfoptOSQPSolverProfile(); | ||
| ~TrajOptIfoptOSQPSolverProfile() override; | ||
| TrajOptIfoptOSQPSolverProfile(const TrajOptIfoptOSQPSolverProfile&) = delete; | ||
| TrajOptIfoptOSQPSolverProfile& operator=(const TrajOptIfoptOSQPSolverProfile&) = delete; | ||
| TrajOptIfoptOSQPSolverProfile(TrajOptIfoptOSQPSolverProfile&&) = delete; | ||
| TrajOptIfoptOSQPSolverProfile&& operator=(TrajOptIfoptOSQPSolverProfile&&) = delete; | ||
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| /** @brief The OSQP convex solver settings to use */ | ||
| std::unique_ptr<OsqpEigen::Settings> qp_settings{ nullptr }; | ||
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| /** @brief Optimization parameters */ | ||
| trajopt_sqp::SQPParameters opt_params{}; | ||
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| std::unique_ptr<trajopt_sqp::TrustRegionSQPSolver> create(bool verbose = false) const override; | ||
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| protected: | ||
| friend class boost::serialization::access; | ||
| template <class Archive> | ||
| void serialize(Archive&, const unsigned int); // NOLINT | ||
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| /** @brief Optimization callbacks */ | ||
| virtual std::vector<std::shared_ptr<trajopt_sqp::SQPCallback>> createOptimizationCallbacks() const; | ||
| }; | ||
| } // namespace tesseract_planning | ||
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| BOOST_CLASS_EXPORT_KEY(tesseract_planning::TrajOptIfoptOSQPSolverProfile) | ||
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| #endif // TESSERACT_MOTION_PLANNERS_TRAJOPT_IFOPT_OSQP_SOLVER_PROFILE_H |
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