qpOASESroutines.cpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2011 by Hans Joachim Ferreau, Andreas Potschka,
 *      Christian Kirches et al. All rights reserved.
 *
 *      qpOASES is free software; you can redistribute it and/or
 *      modify it under the terms of the GNU Lesser General Public
 *      License as published by the Free Software Foundation; either
 *      version 2.1 of the License, or (at your option) any later version.
 *
 *      qpOASES is distributed in the hope that it will be useful,
 *      but WITHOUT ANY WARRANTY; without even the implied warranty of
 *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 *      See the GNU Lesser General Public License for more details.
 *
 *      You should have received a copy of the GNU Lesser General Public
 *      License along with qpOASES; if not, write to the Free Software
 *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#include <iostream>

#include <qpOASES/SQProblem.hpp>


using namespace qpOASES;

/* global pointers to qpOASES objects */
QProblem*  qp  = 0;
QProblemB* qpb = 0;
SQProblem* sqp = 0;


extern "C"
{
        void qpoases(   real_t* H, real_t* g, real_t* A, real_t* lb, real_t* ub, real_t* lbA, real_t* ubA,
                                        int *nV, int* nC, int* nWSR,
                                        real_t* x, real_t* obj, int* status, int* nWSRout, real_t* y
                                        );

        void init(              real_t* H, real_t* g, real_t* A, real_t* lb, real_t* ub, real_t* lbA, real_t* ubA,
                                        int* nV, int* nC, int* nWSR,
                                        real_t* x, real_t* obj, int* status, int* nWSRout, real_t* y
                                        );
        void initSB(    real_t* H, real_t* g, real_t* lb, real_t* ub,
                                        int* nV, int* nWSR,
                                        real_t* x, real_t* obj, int* status, int* nWSRout, real_t* y
                                        );
        void initVM(    real_t* H, real_t* g, real_t* A, real_t* lb, real_t* ub, real_t* lbA, real_t* ubA,
                                        int* nV, int* nC, int* nWSR,
                                        real_t* x, real_t* obj, int* status, int* nWSRout, real_t* y
                                        );

        void hotstart(          real_t* g, real_t* lb, real_t* ub, real_t* lbA, real_t* ubA,
                                                int* nWSR,
                                                real_t* x, real_t* obj, int* status, int* nWSRout, real_t* y
                                                );
        void hotstartSB(        real_t* g, real_t* lb, real_t* ub,
                                                int* nWSR,
                                                real_t* x, real_t* obj, int* status, int* nWSRout, real_t* y
                                                );
        void hotstartVM(        real_t* H, real_t* g, real_t* A, real_t* lb, real_t* ub, real_t* lbA, real_t* ubA,
                                                int* nWSR,
                                                real_t* x, real_t* obj, int* status, int* nWSRout, real_t* y
                                                );

        void cleanupp( );
        void cleanupSB( );
        void cleanupVM( );
}



/*
 *      t r a n s f o r m A
 */
void transformA( real_t* A, int nV, int nC )
{
        int i, j;

        real_t* A_tmp = new real_t[nC*nV];

        for( i=0; i<nV*nC; ++i )
                A_tmp[i] = A[i];

        for( i=0; i<nC; ++i )
                for( j=0; j<nV; ++j )
                        A[i*nV + j] = A_tmp[j*nC + i];

        delete[] A_tmp;

        return;
}


/*
 *      g e t S t a t u s
 */
int getStatus( returnValue returnvalue )
{
        switch ( returnvalue )
        {
                case SUCCESSFUL_RETURN:
                        return 0;

                case RET_MAX_NWSR_REACHED:
                        return 1;

                case RET_INIT_FAILED_INFEASIBILITY:
                case RET_HOTSTART_STOPPED_INFEASIBILITY:
                        return -2;
                
                case RET_INIT_FAILED_UNBOUNDEDNESS:
                case RET_HOTSTART_STOPPED_UNBOUNDEDNESS:
                        return -3;
                        
                default:
                        return -1;
        }
}


/*
 *      q p o a s e s
 */
void qpoases(   real_t* H, real_t* g, real_t* A, real_t* lb, real_t* ub, real_t* lbA, real_t* ubA,
                                int *nV, int* nC, int* nWSR,
                                real_t* x, real_t* obj, int* status, int* nWSRout, real_t* y
                                )
{
        /* transform A into C style matrix */
        transformA( A, *nV,*nC );

        /* setup and solve initial QP */
        QProblem single_qp( *nV,*nC );
        single_qp.setPrintLevel( PL_LOW );
        returnValue returnvalue = single_qp.init( H,g,A,lb,ub,lbA,ubA, *nWSR,0 );

        /* assign lhs arguments */
        single_qp.getPrimalSolution( x );
        *obj = single_qp.getObjVal( );
        *status = getStatus( returnvalue );
        *nWSRout = *nWSR;
        single_qp.getDualSolution( y );

        return;
}


/*
 *      i n i t
 */
void init(      real_t* H, real_t* g, real_t* A, real_t* lb, real_t* ub, real_t* lbA, real_t* ubA,
                        int* nV, int* nC, int* nWSR,
                        real_t* x, real_t* obj, int* status, int* nWSRout, real_t* y
                        )
{
        cleanupp( );

        /* transform A into C style matrix */
        transformA( A, *nV,*nC );

        /* setup and solve initial QP */
        qp = new QProblem( *nV,*nC );
        qp->setPrintLevel( PL_LOW );
        returnValue returnvalue = qp->init( H,g,A,lb,ub,lbA,ubA, *nWSR,0 );

        /* assign lhs arguments */
        qp->getPrimalSolution( x );
        *obj = qp->getObjVal( );
        *status = getStatus( returnvalue );
        *nWSRout = *nWSR;
        qp->getDualSolution( y );

        return;
}


/*
 *      i n i t S B
 */
void initSB(    real_t* H, real_t* g, real_t* lb, real_t* ub,
                                int* nV, int* nWSR,
                                real_t* x, real_t* obj, int* status, int* nWSRout, real_t* y
                                )
{
        cleanupSB( );

        /* setup and solve initial QP */
        qpb = new QProblemB( *nV );
        qpb->setPrintLevel( PL_LOW );
        returnValue returnvalue = qpb->init( H,g,lb,ub, *nWSR,0 );

        /* assign lhs arguments */
        qpb->getPrimalSolution( x );
        *obj = qpb->getObjVal( );
        *status = getStatus( returnvalue );
        *nWSRout = *nWSR;
        qpb->getDualSolution( y );

        return;
}


/*
 *      i n i t V M
 */
void initVM(    real_t* H, real_t* g, real_t* A, real_t* lb, real_t* ub, real_t* lbA, real_t* ubA,
                                int* nV, int* nC, int* nWSR,
                                real_t* x, real_t* obj, int* status, int* nWSRout, real_t* y
                                )
{
        cleanupVM( );

        /* transform A into C style matrix */
        transformA( A, *nV,*nC );

        /* setup and solve initial QP */
        sqp = new SQProblem( *nV,*nC );
        sqp->setPrintLevel( PL_LOW );
        returnValue returnvalue = sqp->init( H,g,A,lb,ub,lbA,ubA, *nWSR,0 );

        /* assign lhs arguments */
        sqp->getPrimalSolution( x );
        *obj = sqp->getObjVal( );
        *status = getStatus( returnvalue );
        *nWSRout = *nWSR;
        sqp->getDualSolution( y );

        return;
}


/*
 *      h o t s t a r t
 */
void hotstart(  real_t* g, real_t* lb, real_t* ub, real_t* lbA, real_t* ubA,
                                int* nWSR,
                                real_t* x, real_t* obj, int* status, int* nWSRout, real_t* y
                                )
{
        /* has QP been initialised? */
        if ( qp == 0 )
        {
                *status = -1;
                return;
        }

        /* solve QP */
        returnValue returnvalue = qp->hotstart( g,lb,ub,lbA,ubA, *nWSR,0 );

        /* assign lhs arguments */
        qp->getPrimalSolution( x );
        *obj = qp->getObjVal( );
        *status = getStatus( returnvalue );
        *nWSRout = *nWSR;
        qp->getDualSolution( y );

        return;
}


/*
 *      h o t s t a r t S B
 */
void hotstartSB(        real_t* g, real_t* lb, real_t* ub,
                                        int* nWSR,
                                        real_t* x, real_t* obj, int* status, int* nWSRout, real_t* y
                                        )
{
        /* has QP been initialised? */
        if ( qpb == 0 )
        {
                *status = -1;
                return;
        }

        /* solve QP */
        returnValue returnvalue = qpb->hotstart( g,lb,ub, *nWSR,0 );

        /* assign lhs arguments */
        qpb->getPrimalSolution( x );
        *obj = qpb->getObjVal( );
        *status = getStatus( returnvalue );
        *nWSRout = *nWSR;
        qpb->getDualSolution( y );

        return;
}


/*
 *      h o t s t a r t V M
 */
void hotstartVM(        real_t* H, real_t* g, real_t* A, real_t* lb, real_t* ub, real_t* lbA, real_t* ubA,
                                        int* nWSR,
                                        real_t* x, real_t* obj, int* status, int* nWSRout, real_t* y
                                        )
{
        /* has QP been initialised? */
        if ( sqp == 0 )
        {
                *status = -1;
                return;
        }

        /* transform A into C style matrix */
        transformA( A, sqp->getNV( ),sqp->getNC( ) );

        /* solve QP */
        returnValue returnvalue = sqp->hotstart( H,g,A,lb,ub,lbA,ubA, *nWSR,0 );

        /* assign lhs arguments */
        sqp->getPrimalSolution( x );
        *obj = sqp->getObjVal( );
        *status = getStatus( returnvalue );
        *nWSRout = *nWSR;
        sqp->getDualSolution( y );

        return;
}


/*
 *      c l e a n u p p
 */
void cleanupp( )
{
        /* Remark: A function cleanup already exists! */
        if ( qp != 0 )
        {
                delete qp;
                qp = 0;
        }

        return;
}


/*
 *      c l e a n u p S B
 */
void cleanupSB( )
{
        if ( qpb != 0 )
        {
                delete qpb;
                qpb = 0;
        }

        return;
}


/*
 *      c l e a n u p V M
 */
void cleanupVM( )
{
        if ( sqp != 0 )
        {
                delete sqp;
                sqp = 0;
        }

        return;
}


/*
 *      end of file
 */