qpOASES-3.0beta/examples/example3.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.hpp>


int main( )
{
        USING_NAMESPACE_QPOASES

        /* 1) Define benchmark arguments. */
        BooleanType isSparse = BT_FALSE;
        Options options;
        options.setToFast();
//      options.setToReliable();

        int nWSR = 600;
        real_t maxCPUtime = 10.0; /* seconds */
        real_t maxPrimalDeviation, maxDualDeviation, maxObjDeviation;

        /* 2) Run benchmark. */
        if ( runOQPbenchmark(   "./chain80w/",
                                                        isSparse,
                                                        options,
                                                        nWSR,
                                                        maxCPUtime,
                                                        maxPrimalDeviation,
                                                        maxDualDeviation,
                                                        maxObjDeviation
                                                        ) != SUCCESSFUL_RETURN )
        {
                myPrintf( "In order to run this example, you need to download example no. 02\nfrom the Online QP Benchmark Collection website first!\n" );
                return -1;
        }

        /* 3) Print results. */
        printf( "\n\n" );
        printf( "OQP Benchmark Results:\n" );
        printf( "======================\n\n" );
        printf( "maximum primal deviation:     %.2e\n",maxPrimalDeviation );
        printf( "maximum dual deviation:       %.2e\n",maxDualDeviation );
        printf( "maximum objective deviation:  %.2e\n",maxObjDeviation );
        printf( "\n" );
        printf( "maximum CPU time:             %.2f milliseconds\n\n",1000.0*maxCPUtime );

        return 0;
}


/*
 *      end of file
 */