test_matrices2.cpp

Go to the documentation of this file.

/*
 *      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 <stdlib.h>

#include <qpOASES.hpp>
#include <qpOASES/UnitTesting.hpp>


#include "test_qrecipe_data.hpp"


int main( )
{
        USING_NAMESPACE_QPOASES
        
        int_t i;

        real_t errH=0.0, errA=0.0;
        real_t v[180];
        real_t resHs[180];
        real_t resHd[180];
        real_t resAs[91];
        real_t resAd[91];
        
        /* create sparse matrices */
        SymSparseMat *H = new SymSparseMat(180, 180, H_ir, H_jc, H_val);
        SparseMatrix *A = new SparseMatrix(91, 180, A_ir, A_jc, A_val);

        H->createDiagInfo();

        real_t* H_full = H->full();
        real_t* A_full = A->full();

        //print( A_full,91,180 );


        SymDenseMat *Hd = new SymDenseMat(180,180,180,H_full);
        DenseMatrix *Ad = new DenseMatrix(91,180,180,A_full);

        for( i=0; i<180; ++i )
                v[i] = 2.0 * ((real_t)rand()) / ((real_t)RAND_MAX) - 1.0;
        
        H ->times(1, 1.0, v, 180, 0.0, resHs, 180);
        Hd->times(1, 1.0, v, 180, 0.0, resHd, 180);
        
        A ->times(1, 1.0, v, 180, 0.0, resAs, 91);
        Ad->times(1, 1.0, v, 180, 0.0, resAd, 91);

        
        for ( i=0; i<180; ++i )
                if ( getAbs(resHs[i] - resHd[i]) > errH)
                        errH = getAbs(resHs[i] - resHd[i]);
        
        fprintf(stdFile, "maximum difference in H*v: %9.2e\n", errH);
        
        
        for ( i=0; i<91; ++i )
                if ( getAbs(resAs[i] - resAd[i]) > errA)
                        errA = getAbs(resAs[i] - resAd[i]);
        
        fprintf(stdFile, "maximum difference in A*v: %9.2e\n", errA);

        delete H;
        delete A;
        delete[] H_full;
        delete[] A_full;
        delete Hd;
        delete Ad;

        
        QPOASES_TEST_FOR_TOL( errH,1e-13 )
        QPOASES_TEST_FOR_TOL( errA,1e-13 )

        return TEST_PASSED;
}


/*
 *      end of file
 */