36 #include <qpOASES.hpp> 45 real_t H[2*2] = { 1.0, 0.0, 0.0, 0.5 };
69 example.
init( H,g,A,lb,ub,lbA,ubA, nWSR );
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() );
81 example.
hotstart( g_new,lb_new,ub_new,lbA_new,ubA_new, nWSR );
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() );
returnValue getPrimalSolution(real_t *const xOpt) const
#define USING_NAMESPACE_QPOASES
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 printOptions() const
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.
Implements the online active set strategy for QPs with general constraints.
returnValue getDualSolution(real_t *const yOpt) const