fixed_line_search.hpp

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// Copyright 2020 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__LINE_SEARCH__FIXED_LINE_SEARCH_HPP_
#define OPTIMIZATION__LINE_SEARCH__FIXED_LINE_SEARCH_HPP_
 
#include <optimization/line_search/line_search.hpp>
 
#include <limits>
 
namespace autoware
{
namespace common
{
namespace optimization
{
 
class OPTIMIZATION_PUBLIC FixedLineSearch : public LineSearch<FixedLineSearch>
{
public:
  explicit FixedLineSearch(const StepT step = std::numeric_limits<StepT>::min())
  : LineSearch{step} {}
 
  template<typename DomainValueT, typename OptimizationProblemT>
  DomainValueT compute_next_step(
    const DomainValueT &, DomainValueT & step_direction,
    OptimizationProblemT &) const noexcept
  {
    return get_step_max() * step_direction.normalized();
  }
};
}  // namespace optimization
}  // namespace common
}  // namespace autoware
 
#endif  // OPTIMIZATION__LINE_SEARCH__FIXED_LINE_SEARCH_HPP_