37 #include <qpOASES.hpp> 46 real_t H[2*2] = { 1.0, 0.0, 0.0, 0.5 };
70 example.
init( H,g,A,lb,ub,lbA,ubA, nWSR,0 );
74 printf(
"maxKktViolation: %e\n", maxKktViolation );
78 example.
hotstart( H_new,g_new,A_new,lb_new,ub_new,lbA_new,ubA_new, nWSR,0 );
82 printf(
"maxKktViolation: %e\n", maxKktViolation );
91 for( run1 = 0; run1 < 5*5; run1++ )
106 printf(
"\nPrimal_Dual_VAR = \n");
107 for( run1 = 0; run1 < 5; run1++ ){
108 for( run2 = 0; run2 < 5; run2++ ){
109 printf(
" %10f", Primal_Dual_Var[run1*5+run2]);
#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)
Implements the online active set strategy for QPs with varying matrices.
Provides additional tools for analysing QP solutions.
real_t getKktViolation(QProblemB *const qp, real_t *const maxStat=0, real_t *const maxFeas=0, real_t *const maxCmpl=0) const
returnValue getVarianceCovariance(QProblemB *qp, real_t *g_b_bA_VAR, real_t *Primal_Dual_VAR) const
returnValue hotstart(const real_t *const H_new, const real_t *const g_new, const real_t *const A_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)