#include <qpOASES/extras/OQPinterface.hpp>
#include <qpOASES/QProblem.hpp>
Go to the source code of this file.
Functions | |
returnValue | readOQPdata (const char *path, int &nQP, int &nV, int &nC, int &nEC, real_t **H, real_t **g, real_t **A, real_t **lb, real_t **ub, real_t **lbA, real_t **ubA, real_t **xOpt, real_t **yOpt, real_t **objOpt) |
BEGIN_NAMESPACE_QPOASES returnValue | readOQPdimensions (const char *path, int &nQP, int &nV, int &nC, int &nEC) |
returnValue | runOQPbenchmark (const char *path, BooleanType isSparse, const Options &options, int &nWSR, real_t &maxCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity) |
returnValue | solveOQPbenchmark (int nQP, int nV, int nC, int nEC, const real_t *const _H, const real_t *const g, const real_t *const _A, const real_t *const lb, const real_t *const ub, const real_t *const lbA, const real_t *const ubA, BooleanType isSparse, const Options &options, int &nWSR, real_t &maxCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity) |
returnValue | solveOQPbenchmark (int nQP, int nV, const real_t *const _H, const real_t *const g, const real_t *const lb, const real_t *const ub, BooleanType isSparse, const Options &options, int &nWSR, real_t &maxCPUtime, real_t &maxStationarity, real_t &maxFeasibility, real_t &maxComplementarity) |
Implementation of an interface comprising several utility functions for solving test problems from the Online QP Benchmark Collection (see http://homes.esat.kuleuven.be/~optec/software/onlineQP/).
Definition in file qpOASES-3.0beta/src/extras/OQPinterface.cpp.
returnValue readOQPdata | ( | const char * | path, |
int & | nQP, | ||
int & | nV, | ||
int & | nC, | ||
int & | nEC, | ||
real_t ** | H, | ||
real_t ** | g, | ||
real_t ** | A, | ||
real_t ** | lb, | ||
real_t ** | ub, | ||
real_t ** | lbA, | ||
real_t ** | ubA, | ||
real_t ** | xOpt, | ||
real_t ** | yOpt, | ||
real_t ** | objOpt | ||
) |
Reads data of an Online QP Benchmark problem from file. This function allocates the required memory for all data; after successfully calling it, you have to free this memory yourself!
path | Full path of the data files (without trailing slash!). |
nQP | Output: Number of QPs. |
nV | Output: Number of variables. |
nC | Output: Number of constraints. |
nEC | Output: Number of equality constraints. |
H | Output: Hessian matrix. |
g | Output: Sequence of gradient vectors. |
A | Output: Constraint matrix. |
lb | Output: Sequence of lower bound vectors (on variables). |
ub | Output: Sequence of upper bound vectors (on variables). |
lbA | Output: Sequence of lower constraints' bound vectors. |
ubA | Output: Sequence of upper constraints' bound vectors. |
xOpt | Output: Sequence of primal solution vectors (not read if a null pointer is passed). |
yOpt | Output: Sequence of dual solution vectors (not read if a null pointer is passed). |
objOpt | Output: Sequence of optimal objective function values (not read if a null pointer is passed). |
Definition at line 78 of file qpOASES-3.0beta/src/extras/OQPinterface.cpp.
BEGIN_NAMESPACE_QPOASES returnValue readOQPdimensions | ( | const char * | path, |
int & | nQP, | ||
int & | nV, | ||
int & | nC, | ||
int & | nEC | ||
) |
Reads dimensions of an Online QP Benchmark problem from file.
path | Full path of the data files (without trailing slash!). |
nQP | Output: Number of QPs. |
nV | Output: Number of variables. |
nC | Output: Number of constraints. |
nEC | Output: Number of equality constraints. |
Definition at line 48 of file qpOASES-3.0beta/src/extras/OQPinterface.cpp.
returnValue runOQPbenchmark | ( | const char * | path, |
BooleanType | isSparse, | ||
const Options & | options, | ||
int & | nWSR, | ||
real_t & | maxCPUtime, | ||
real_t & | maxStationarity, | ||
real_t & | maxFeasibility, | ||
real_t & | maxComplementarity | ||
) |
Runs an Online QP Benchmark problem and determines the maximum deviations from the given optimal solution as well as the maximum CPU time to solve each QP.
path | Full path of the benchmark files (without trailing slash!). |
isSparse | Shall convert matrices to sparse format before solution? |
options | QP solver options to be used while solving benchmark problems. |
nWSR | Input: Maximum number of working set recalculations; Output: Maximum number of performed working set recalculations. |
maxCPUtime | Output: Maximum CPU time required for solving each QP. |
maxStationarity | Output: Maximum residual of stationarity condition. |
maxFeasibility | Output: Maximum residual of primal feasibility condition. |
maxComplementarity | Output: Maximum residual of complementarity condition. |
Definition at line 468 of file qpOASES-3.0beta/src/extras/OQPinterface.cpp.
returnValue solveOQPbenchmark | ( | int | nQP, |
int | nV, | ||
int | nC, | ||
int | nEC, | ||
const real_t *const | _H, | ||
const real_t *const | g, | ||
const real_t *const | _A, | ||
const real_t *const | lb, | ||
const real_t *const | ub, | ||
const real_t *const | lbA, | ||
const real_t *const | ubA, | ||
BooleanType | isSparse, | ||
const Options & | options, | ||
int & | nWSR, | ||
real_t & | maxCPUtime, | ||
real_t & | maxStationarity, | ||
real_t & | maxFeasibility, | ||
real_t & | maxComplementarity | ||
) |
Solves an Online QP Benchmark problem as specified by the arguments. The maximum deviations from the given optimal solution as well as the maximum CPU time to solve each QP are determined.
nQP | Number of QPs. |
nV | Number of variables. |
nC | Number of constraints. |
nEC | Number of equality constraints. |
_H | Hessian matrix. |
g | Sequence of gradient vectors. |
_A | Constraint matrix. |
lb | Sequence of lower bound vectors (on variables). |
ub | Sequence of upper bound vectors (on variables). |
lbA | Sequence of lower constraints' bound vectors. |
ubA | Sequence of upper constraints' bound vectors. |
isSparse | Shall convert matrices to sparse format before solution? |
options | QP solver options to be used while solving benchmark problems. |
nWSR | Input: Maximum number of working set recalculations; Output: Maximum number of performed working set recalculations. |
maxCPUtime | Output: Maximum CPU time required for solving each QP. |
maxStationarity | Output: Maximum residual of stationarity condition. |
maxFeasibility | Output: Maximum residual of primal feasibility condition. |
maxComplementarity | Output: Maximum residual of complementarity condition. |
Definition at line 229 of file qpOASES-3.0beta/src/extras/OQPinterface.cpp.
returnValue solveOQPbenchmark | ( | int | nQP, |
int | nV, | ||
const real_t *const | _H, | ||
const real_t *const | g, | ||
const real_t *const | lb, | ||
const real_t *const | ub, | ||
BooleanType | isSparse, | ||
const Options & | options, | ||
int & | nWSR, | ||
real_t & | maxCPUtime, | ||
real_t & | maxStationarity, | ||
real_t & | maxFeasibility, | ||
real_t & | maxComplementarity | ||
) |
Solves an Online QP Benchmark problem (without constraints) as specified by the arguments. The maximum deviations from the given optimal solution as well as the maximum CPU time to solve each QP are determined.
nQP | Number of QPs. |
nV | Number of variables. |
_H | Hessian matrix. |
g | Sequence of gradient vectors. |
lb | Sequence of lower bound vectors (on variables). |
ub | Sequence of upper bound vectors (on variables). |
isSparse | Shall convert matrices to sparse format before solution? |
options | QP solver options to be used while solving benchmark problems. |
nWSR | Input: Maximum number of working set recalculations; Output: Maximum number of performed working set recalculations. |
maxCPUtime | Output: Maximum CPU time required for solving each QP. |
maxStationarity | Output: Maximum residual of stationarity condition. |
maxFeasibility | Output: Maximum residual of primal feasibility condition. |
maxComplementarity | Output: Maximum residual of complementarity condition. |
Definition at line 353 of file qpOASES-3.0beta/src/extras/OQPinterface.cpp.