qpOASES_sequenceSB.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 <qpOASES/QProblemB.hpp>


using namespace qpOASES;

#include <qpOASES_matlab_utils.cpp>


/* global pointer to QP object */
static QProblemB* globalQPB = 0;
static SymmetricMatrix* globalQPB_H = 0;
static long* globalQPB_Hdiag = 0;

/*
 *      a l l o c a t e G l o b a l Q P r o b l e m B I n s t a n c e
 */
void allocateGlobalQProblemBInstance(   int nV, Options* options
                                                                                )
{
        globalQPB = new QProblemB( nV );
        globalQPB->setOptions( *options );

        return;
}


/*
 *      d e l e t e G l o b a l Q P r o b l e m B I n s t a n c e
 */
void deleteGlobalQProblemBInstance( )
{
        if ( globalQPB != 0 )
        {
                delete globalQPB;
                globalQPB = 0;
        }

        return;
}


/*
 *      d e l e t e G l o b a l Q P r o b l e m B M a t r i c e s
 */
void deleteGlobalQProblemBMatrices( )
{
        if ( globalQPB_H != 0 )
        {
                delete globalQPB_H;
                globalQPB_H = 0;
        }

        if ( globalQPB_Hdiag != 0 )
        {
                delete[] globalQPB_Hdiag;
                globalQPB_Hdiag = 0;
        }

        return;
}


/*
 *      i n i t S B
 */
void initSB(    int nV,
                                SymmetricMatrix *H, real_t* g,
                                const real_t* const lb, const real_t* const ub,
                                int nWSR, const real_t* const x0, Options* options,
                                int nOutputs, mxArray* plhs[]
                                )
{
        /* 1) Setup initial QP. */
        allocateGlobalQProblemBInstance( nV,options );

        /* 2) Solve initial QP. */
        returnValue returnvalue;

        if ( x0 == 0 )
        {
//              myPrintf( "ccc\n" );
                returnvalue = globalQPB->init( H,g,lb,ub, nWSR,0 );
//              myPrintf( "ccc\n" );
        }
        else
                returnvalue = globalQPB->init( H,g,lb,ub, nWSR,0, x0,0,0 );

        /* 3) Assign lhs arguments. */
        obtainOutputs(  0,globalQPB,returnvalue,nWSR,
                                        nOutputs,plhs,0 );

        return;
}



/*
 *      h o t s t a r t S B
 */
void hotstartSB(        const real_t* const g,
                                        const real_t* const lb, const real_t* const ub,
                                        int nWSR, Options* options,
                                        int nOutputs, mxArray* plhs[]
                                        )
{
        /* 1) Solve QP. */
        globalQPB->setOptions( *options );
        returnValue returnvalue = globalQPB->hotstart( g,lb,ub, nWSR,0 );

        /* 2) Assign lhs arguments. */
        obtainOutputs(  0,globalQPB,returnvalue,nWSR,
                                        nOutputs,plhs,0 );

        return;
}


/*
 *      m e x F u n c t i o n
 */
void mexFunction( int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[] )
{
        /* inputs */
        char* typeString;
        real_t *H_for=0, *H_mem=0, *g=0, *lb=0, *ub=0, *x0=0;

        Options options;
        options.printLevel = PL_LOW;
        #ifdef __DEBUG__
        options.printLevel = PL_HIGH;
        #endif
        #ifdef __SUPPRESSANYOUTPUT__
        options.printLevel = PL_NONE;
        #endif

        /* dimensions */
        unsigned int nV=0;


        /* I) CONSISTENCY CHECKS: */
        /* 1) Ensure that qpOASES is called with a feasible number of input arguments. */
        if ( ( nrhs < 4 ) || ( nrhs > 7 ) )
                if ( nrhs != 1 )
                        mexErrMsgTxt( "ERROR (qpOASES): Invalid number of input arguments!\nType 'help qpOASES_sequenceSB' for further information." );

        /* 2) Ensure that first input is a string (and if so, read it). */
        if ( mxIsChar( prhs[0] ) != 1 )
                mexErrMsgTxt( "ERROR (qpOASES): First input argument must be a string!" );

        typeString = (char*) mxGetPr( prhs[0] );


        /* II) SELECT RESPECTIVE QPOASES FUNCTION CALL: */
        /* 1) Init (without or with initial guess for primal solution). */
        if ( ( strcmp( typeString,"i" ) == 0 ) || ( strcmp( typeString,"I" ) == 0 ) )
        {
                /* consistency checks */
                if ( ( nlhs < 1 ) || ( nlhs > 5 ) )
                        mexErrMsgTxt( "ERROR (qpOASES): Invalid number of output arguments!\nType 'help qpOASES_sequenceSB' for further information." );

                if ( ( nrhs < 5 ) || ( nrhs > 7 ) )
                        mexErrMsgTxt( "ERROR (qpOASES): Invalid number of input arguments!\nType 'help qpOASES_sequenceSB' for further information." );

                /* ensure that data is given in real_t precision */
                if ( ( mxIsDouble( prhs[1] ) == 0 ) ||
                         ( mxIsDouble( prhs[2] ) == 0 ) )
                        mexErrMsgTxt( "ERROR (qpOASES): All data has to be provided in real_t precision!" );

                /* ensure that Hessian matrix is stored in dense format */
//              if ( mxIsSparse( prhs[1] ) != 0 )
//                      mexErrMsgTxt( "ERROR (qpOASES): Matrices must not be stored in sparse format!" );


                /* Check inputs dimensions and assign pointers to inputs. */
                nV = mxGetM( prhs[1] ); /* row number of Hessian matrix */

                if ( mxGetN( prhs[1] ) != nV )
                        mexErrMsgTxt( "ERROR (qpOASES): Input dimension mismatch!" );

                if ( smartDimensionCheck( &g,nV,1, BT_FALSE,prhs,2 ) != SUCCESSFUL_RETURN )
                        return;

                if ( smartDimensionCheck( &lb,nV,1, BT_TRUE,prhs,3 ) != SUCCESSFUL_RETURN )
                        return;

                if ( smartDimensionCheck( &ub,nV,1, BT_TRUE,prhs,4 ) != SUCCESSFUL_RETURN )
                        return;

                /* default value for nWSR */
                int nWSRin = 5*nV;

                /* Check whether x0 and options are specified .*/
                if ( nrhs > 5 )
                {
                        if ( smartDimensionCheck( &x0,nV,1, BT_TRUE,prhs,5 ) != SUCCESSFUL_RETURN )
                                return;

                        if ( nrhs > 6 )
                                if ( ( !mxIsEmpty( prhs[6] ) ) && ( mxIsStruct( prhs[6] ) ) )
                                        setupOptions( &options,prhs[6],nWSRin );
                }

                deleteGlobalQProblemBInstance( );
                deleteGlobalQProblemBMatrices( );

                /* check for sparsity */
                if ( mxIsSparse( prhs[1] ) != 0 )
                {
                        long *ir = (long *)mxGetIr(prhs[1]);
                        long *jc = (long *)mxGetJc(prhs[1]);
                        real_t *v = (real_t*)mxGetPr(prhs[1]);
                        // mind pointer offsets due to 1-based indexing in Matlab
                        SymSparseMat *sH;
                        globalQPB_H = sH = new SymSparseMat(nV, nV, ir, jc, v);
                        globalQPB_Hdiag = sH->createDiagInfo();
                }
                else
                {
                        H_for = (real_t*) mxGetPr( prhs[1] );
                        H_mem = new real_t[nV*nV];
                        for( int i=0; i<nV*nV; ++i )
                                H_mem[i] = H_for[i];
                        globalQPB_H = new SymDenseMat( nV, nV, nV, H_mem );
                        globalQPB_H->doFreeMemory();
                }

                /* Create output vectors and assign pointers to them. */
                allocateOutputs( nlhs,plhs, nV );

                /* call qpOASES */
                initSB( nV,
                                globalQPB_H,g,
                                lb,ub,
                                nWSRin,x0,&options,
                                nlhs,plhs
                                );

                return;
        }

        /* 2) Hotstart. */
        if ( ( strcmp( typeString,"h" ) == 0 ) || ( strcmp( typeString,"H" ) == 0 ) )
        {
                /* consistency checks */
                if ( ( nlhs < 1 ) || ( nlhs > 5 ) )
                        mexErrMsgTxt( "ERROR (qpOASES): Invalid number of output arguments!\nType 'help qpOASES_sequenceSB' for further information." );

                if ( ( nrhs < 4 ) || ( nrhs > 5 ) )
                        mexErrMsgTxt( "ERROR (qpOASES): Invalid number of input arguments!\nType 'help qpOASES_sequenceSB' for further information." );

                /* has QP been initialised? */
                if ( globalQPB == 0 )
                        mexErrMsgTxt( "ERROR (qpOASES): QP sequence needs to be initialised first!" );

                /* Check inputs dimensions and assign pointers to inputs. */
                nV = globalQPB->getNV( );

                if ( smartDimensionCheck( &g,nV,1, BT_FALSE,prhs,1 ) != SUCCESSFUL_RETURN )
                        return;

                if ( smartDimensionCheck( &lb,nV,1, BT_TRUE,prhs,2 ) != SUCCESSFUL_RETURN )
                        return;

                if ( smartDimensionCheck( &ub,nV,1, BT_TRUE,prhs,3 ) != SUCCESSFUL_RETURN )
                        return;

                /* default value for nWSR */
                int nWSRin = 5*nV;

                /* Check whether options are specified .*/
                if ( nrhs == 5 )
                        if ( ( !mxIsEmpty( prhs[4] ) ) && ( mxIsStruct( prhs[4] ) ) )
                                setupOptions( &options,prhs[4],nWSRin );

                /* Create output vectors and assign pointers to them. */
                allocateOutputs( nlhs,plhs, nV );

                /* call qpOASES */
                hotstartSB(     g,
                                        lb,ub,
                                        nWSRin,&options,
                                        nlhs,plhs
                                        );

                return;
        }

        /* 3) Cleanup. */
        if ( ( strcmp( typeString,"c" ) == 0 ) || ( strcmp( typeString,"C" ) == 0 ) )
        {
                /* consistency checks */
                if ( nlhs != 0 )
                        mexErrMsgTxt( "ERROR (qpOASES): Invalid number of output arguments!\nType 'help qpOASES_sequenceSB' for further information." );

                if ( nrhs != 1 )
                        mexErrMsgTxt( "ERROR (qpOASES): Invalid number of input arguments!\nType 'help qpOASES_sequenceSB' for further information." );

                /* Cleanup global QProblemB instance. */
                deleteGlobalQProblemBInstance( );
                deleteGlobalQProblemBMatrices( );
                return;
        }
}

/*
 *      end of file
 */