test_guessedWS1.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[4*4] = { 1.0, 0.0, 0.0, 0.5, 
                          0.0, 1.0, 0.0, 0.0,
                          0.0, 0.0, 1.0, 0.0,
                          0.5, 0.0, 0.0, 1.0 };
        real_t A[3*4] = { 1.0, 1.0, 0.0, 0.0,
                          1.0, 1.0, 1.0, 0.0,
                          1.0, 1.0, 1.0, 1.0 };
        real_t g[4] = { 1.5, 1.0, -1.0, -1.0 };
        real_t lb[4] = { 0.5, -2.0, 0.0, 0.0 };
        real_t ub[4] = { 1.0, 2.0, 1.0, 0.5 };
        real_t lbA[3] = { -1.0, -1.0, -1.0 };
        real_t ubA[3] = { 0.0, 0.25, 1.0 };

        

        /* Setting up QProblem object. */
        QProblem example( 4,3 );

        Options options;
        example.setOptions( options );

        /* Solve first QP. */
        int_t nWSR = 10;
        example.init( H,g,A,lb,ub,lbA,ubA, nWSR );

        /* Get and print solution of second QP. */
        real_t xOpt[4];
        real_t yOpt[4+3];
        example.getPrimalSolution( xOpt );
        example.getDualSolution( yOpt );
        print( xOpt,4,"xOpt" );
        print( yOpt,4+3,"yOpt" );
        printf( "objVal = %e\n\n", 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-15 );
        QPOASES_TEST_FOR_TOL( feas,1e-15 );
        QPOASES_TEST_FOR_TOL( cmpl,1e-15 );


        /* Solve first QP again (with optimal guess for working set). */
        Bounds prevBounds;
        Constraints prevConstraints;
        
        example.getBounds( prevBounds );
        example.getConstraints( prevConstraints );

        nWSR = 10;
        example.hotstart( g,lb,ub,lbA,ubA, nWSR,0,&prevBounds,&prevConstraints );

        /* Get and print solution of second QP. */
        example.getPrimalSolution( xOpt );
        example.getDualSolution( yOpt );
        print( xOpt,4,"xOpt" );
        print( yOpt,4+3,"yOpt" );
        printf( "objVal = %e\n\n", example.getObjVal() );
        
        /* Compute KKT tolerances */
        analyzer.getKktViolation( &example, &stat,&feas,&cmpl );
        printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );

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


        /* Solve first QP again (with inaccurate guess for working set). */
        prevBounds.print();
        prevBounds.rotate(1);
        //prevBounds.moveFixedToFree(0);
        prevBounds.print();

        prevConstraints.print();
        //prevConstraints.moveInactiveToActive(0,ST_LOWER);
        prevConstraints.moveActiveToInactive(1);
        prevConstraints.print();

        nWSR = 10;
        example.hotstart( g,lb,ub,lbA,ubA, nWSR,0,&prevBounds,&prevConstraints );

        /* Get and print solution of second QP. */
        example.getPrimalSolution( xOpt );
        example.getDualSolution( yOpt );
        print( xOpt,4,"xOpt" );
        print( yOpt,4+3,"yOpt" );
        printf( "objVal = %e\n\n", example.getObjVal() );
        
        /* Compute KKT tolerances */
        analyzer.getKktViolation( &example, &stat,&feas,&cmpl );
        printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );

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

        return TEST_PASSED;
}


/*
 *      end of file
 */