test_example6.cpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2015 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.hpp>
#include <qpOASES/UnitTesting.hpp>


int main( )
{
        USING_NAMESPACE_QPOASES

        /* Setup data of first QP. */
        real_t H[5*5] = {       1.224642131370767e+01, 2.908638763113702e+00, 0.0, 0.0, 0.0,
                                                2.908638763113702e+00, 2.497106275003180e+00, 0.0, 0.0, 0.0,
                                                0.0, 0.0, 1.0, 0.0, 0.0,
                                                0.0, 0.0, 0.0, 5.158460640334052e-02, 4.723556059962540e-02,
                                                0.0, 0.0, 0.0, 4.723556059962540e-02, 4.325317843302175e-02 };
        real_t A[2*5] = {       -1.404358970692652e+00, -2.556613491156063e+00, 3.202524559238066e+00, -1.0, 0.0,
                                                6.587910295430314e-01, -5.349454475937998e-01, 4.391976356955536e-01, 0.0, -1.0 };
        real_t g[5] = {         2.474135331302147e+01,
                                                5.857286430296258e+00,
                                                2.359382646348721e-01,
                                                1.721047069188781e-01,
                                                1.575947337774199e-01 };
        real_t lb[5] = { -10.0, -10.0, -10.0, -10.0, -10.0 };
        real_t ub[5] = {  10.0,  10.0,  10.0,  10.0,  10.0 };
        real_t lbA[2] = { 1.643135416077167e+00, 1.056813028189597e+00 };
        real_t ubA[2] = { 1.643135416077167e+00, 1.056813028189597e+00 };

        /* Setting up QProblem object. */
        QProblem example( 5,2 );

        Options options;
        //options.enableFlippingBounds = BT_FALSE;
        //options.enableEqualities = BT_TRUE;
        //options.initialStatusBounds = ST_INACTIVE;
        example.setOptions( options );
        example.setPrintLevel( PL_NONE );
        
        /* Solve first QP. */
        returnValue retVal;
        int_t simpleStatus = -1;

        int_t nWSR = 10;
        retVal = example.init( H,g,A,lb,ub,lbA,ubA, nWSR,0 );
        simpleStatus = getSimpleStatus( retVal,BT_TRUE );

        QPOASES_TEST_FOR_TRUE( simpleStatus == 0 );


        /* Get and print solution of second QP. */
        real_t xOpt[5];
        real_t yOpt[5+2];
        
        example.getPrimalSolution( xOpt );
        example.getDualSolution( yOpt );
        printf( "\nxOpt = [ %e, %e, ... ];  objVal = %e\n\n", xOpt[0],xOpt[1],example.getObjVal() );
        
        /* Compute KKT tolerances */
        real_t stat, feas, cmpl;
        SolutionAnalysis analyzer;

        analyzer.getKktViolation( &example, &stat,&feas,&cmpl );
        printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );

        QPOASES_TEST_FOR_TOL( stat,1e-14 );
        QPOASES_TEST_FOR_TOL( feas,1e-14 );
        QPOASES_TEST_FOR_TOL( cmpl,1e-15 );

        return TEST_PASSED;
}


/*
 *      end of file
 */