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refactor(mpc_lateral_controller): add debug info of qp solver (#5459) #1098

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Feb 1, 2024
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refactor(mpc_lateral_controller): add debug info of qp solver (#5459) #1098

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4 changes: 4 additions & 0 deletions ...l/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp
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Expand Up @@ -45,6 +45,10 @@ class QPSolverInterface
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) = 0;

virtual int64_t getTakenIter() const { return 0; }
virtual double getRunTime() const { return 0.0; }
virtual double getObjVal() const { return 0.0; }
};
} // namespace autoware::motion::control::mpc_lateral_controller
#endif // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
4 changes: 4 additions & 0 deletions control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp
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Expand Up @@ -53,6 +53,10 @@ class QPSolverOSQP : public QPSolverInterface
const Eigen::VectorXd & lb, const Eigen::VectorXd & ub, const Eigen::VectorXd & lb_a,
const Eigen::VectorXd & ub_a, Eigen::VectorXd & u) override;

int64_t getTakenIter() const override { return osqpsolver_.getTakenIter(); }
double getRunTime() const override { return osqpsolver_.getRunTime(); }
double getObjVal() const override { return osqpsolver_.getObjVal(); }

private:
autoware::common::osqp::OSQPInterface osqpsolver_;
rclcpp::Logger logger_;
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7 changes: 7 additions & 0 deletions ...teral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp
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Expand Up @@ -53,6 +53,13 @@ class QPSolverEigenLeastSquareLLT : public QPSolverInterface
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;

int64_t getTakenIter() const override { return 1; };
// TODO(someone): calculate runtime and object value, otherwise just return 0 by base class
// double getRunTime() const override { return 0.0; }
// double getObjVal() const override { return 0.0; }

private:
};
} // namespace autoware::motion::control::mpc_lateral_controller
#endif // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
6 changes: 6 additions & 0 deletions control/mpc_lateral_controller/src/mpc.cpp
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Expand Up @@ -145,6 +145,9 @@ Float32MultiArrayStamped MPC::generateDiagData(
const double wz_predicted = current_velocity * std::tan(mpc_data.predicted_steer) / wb;
const double wz_measured = current_velocity * std::tan(mpc_data.steer) / wb;
const double wz_command = current_velocity * std::tan(ctrl_cmd.steering_tire_angle) / wb;
const int iteration_num = m_qpsolver_ptr->getTakenIter();
const double runtime = m_qpsolver_ptr->getRunTime();
const double objective_value = m_qpsolver_ptr->getObjVal();

typedef decltype(diagnostic.data)::value_type DiagnosticValueType;
const auto append_diag = [&](const auto & val) -> void {
Expand All @@ -168,6 +171,9 @@ Float32MultiArrayStamped MPC::generateDiagData(
append_diag(nearest_k); // [15] nearest path curvature (not smoothed)
append_diag(mpc_data.predicted_steer); // [16] predicted steer
append_diag(wz_predicted); // [17] angular velocity from predicted steer
append_diag(iteration_num); // [18] iteration number
append_diag(runtime); // [19] runtime of the latest problem solved
append_diag(objective_value); // [20] objective value of the latest problem solved

return diagnostic;
}
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