exampleLP.cpp
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00001 /*
00002  *      This file is part of qpOASES.
00003  *
00004  *      qpOASES -- An Implementation of the Online Active Set Strategy.
00005  *      Copyright (C) 2007-2011 by Hans Joachim Ferreau, Andreas Potschka,
00006  *      Christian Kirches et al. All rights reserved.
00007  *
00008  *      qpOASES is free software; you can redistribute it and/or
00009  *      modify it under the terms of the GNU Lesser General Public
00010  *      License as published by the Free Software Foundation; either
00011  *      version 2.1 of the License, or (at your option) any later version.
00012  *
00013  *      qpOASES is distributed in the hope that it will be useful,
00014  *      but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
00016  *      See the GNU Lesser General Public License for more details.
00017  *
00018  *      You should have received a copy of the GNU Lesser General Public
00019  *      License along with qpOASES; if not, write to the Free Software
00020  *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  */
00023 
00024 
00036 #include <qpOASES.hpp>
00037 
00038 
00040 int main( )
00041 {
00042         USING_NAMESPACE_QPOASES
00043 
00044         /* Setup data of first LP. */
00045         real_t A[1*2] = { 1.0, 1.0 };
00046         real_t g[2] = { 1.5, 1.0 };
00047         real_t lb[2] = { 0.5, -2.0 };
00048         real_t ub[2] = { 5.0, 2.0 };
00049         real_t lbA[1] = { -1.0 };
00050         real_t ubA[1] = { 2.0 };
00051 
00052         /* Setup data of second LP. */
00053         real_t g_new[2] = { 1.0, 1.5 };
00054         real_t lb_new[2] = { 0.0, -1.0 };
00055         real_t ub_new[2] = { 5.0, -0.5 };
00056         real_t lbA_new[1] = { -2.0 };
00057         real_t ubA_new[1] = { 1.0 };
00058 
00059 
00060         /* Setting up QProblem object with zero Hessian matrix. */
00061         QProblem example( 2,1,HST_ZERO );
00062 
00063         Options options;
00064 //      options.setToFast();
00065         example.setOptions( options );
00066 
00067         /* Solve first LP. */
00068         int nWSR = 10;
00069         example.init( 0,g,A,lb,ub,lbA,ubA, nWSR,0 );
00070 
00071         /* Solve second LP. */
00072         nWSR = 10;
00073         example.hotstart( g_new,lb_new,ub_new,lbA_new,ubA_new, nWSR,0 );
00074 
00075 
00076         /* Get and print solution of second LP. */
00077         real_t xOpt[2];
00078         example.getPrimalSolution( xOpt );
00079         printf( "\nxOpt = [ %e, %e ];  objVal = %e\n\n", xOpt[0],xOpt[1],example.getObjVal() );
00080 
00081         return 0;
00082 }
00083 
00084 
00085 /*
00086  *      end of file
00087  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Thu Aug 27 2015 11:58:09