qpOASES-3.2.0/examples/example1.cpp
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1 /*
2  * This file is part of qpOASES.
3  *
4  * qpOASES -- An Implementation of the Online Active Set Strategy.
5  * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
6  * Christian Kirches et al. All rights reserved.
7  *
8  * qpOASES is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU Lesser General Public
10  * License as published by the Free Software Foundation; either
11  * version 2.1 of the License, or (at your option) any later version.
12  *
13  * qpOASES is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
16  * See the GNU Lesser General Public License for more details.
17  *
18  * You should have received a copy of the GNU Lesser General Public
19  * License along with qpOASES; if not, write to the Free Software
20  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
21  *
22  */
23 
24 
36 #include <qpOASES.hpp>
37 
38 
40 int main( )
41 {
43 
44  /* Setup data of first QP. */
45  real_t H[2*2] = { 1.0, 0.0, 0.0, 0.5 };
46  real_t A[1*2] = { 1.0, 1.0 };
47  real_t g[2] = { 1.5, 1.0 };
48  real_t lb[2] = { 0.5, -2.0 };
49  real_t ub[2] = { 5.0, 2.0 };
50  real_t lbA[1] = { -1.0 };
51  real_t ubA[1] = { 2.0 };
52 
53  /* Setup data of second QP. */
54  real_t g_new[2] = { 1.0, 1.5 };
55  real_t lb_new[2] = { 0.0, -1.0 };
56  real_t ub_new[2] = { 5.0, -0.5 };
57  real_t lbA_new[1] = { -2.0 };
58  real_t ubA_new[1] = { 1.0 };
59 
60 
61  /* Setting up QProblem object. */
62  QProblem example( 2,1 );
63 
65  example.setOptions( options );
66 
67  /* Solve first QP. */
68  int_t nWSR = 10;
69  example.init( H,g,A,lb,ub,lbA,ubA, nWSR );
70 
71  /* Get and print solution of first QP. */
72  real_t xOpt[2];
73  real_t yOpt[2+1];
74  example.getPrimalSolution( xOpt );
75  example.getDualSolution( yOpt );
76  printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e, %e ]; objVal = %e\n\n",
77  xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2],example.getObjVal() );
78 
79  /* Solve second QP. */
80  nWSR = 10;
81  example.hotstart( g_new,lb_new,ub_new,lbA_new,ubA_new, nWSR );
82 
83  /* Get and print solution of second QP. */
84  example.getPrimalSolution( xOpt );
85  example.getDualSolution( yOpt );
86  printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e, %e ]; objVal = %e\n\n",
87  xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2],example.getObjVal() );
88 
89  example.printOptions();
90  /*example.printProperties();*/
91 
92  return 0;
93 }
94 
95 
96 /*
97  * end of file
98  */
returnValue init(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, int &nWSR, const real_t *const yOpt=0, real_t *const cputime=0)
returnValue hotstart(const real_t *const g_new, const real_t *const lb_new, const real_t *const ub_new, const real_t *const lbA_new, const real_t *const ubA_new, int &nWSR, real_t *const cputime)
returnValue setOptions(const Options &_options)
Provides a generic way to set and pass user-specified options.
Definition: options.hpp:65
double real_t
Definition: AD_test.c:10
Implements the online active set strategy for QPs with general constraints.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:34:33