test_example1.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 <qpOASES.hpp>
#include <qpOASES/UnitTesting.hpp>


int main( )
{
        USING_NAMESPACE_QPOASES

        /* Setup data of first QP. */
        real_t H[2*2] = { 1.0, 0.0, 0.0, 0.5 };
        real_t A[1*2] = { 1.0, 1.0 };
        real_t g[2] = { 1.5, 1.0 };
        real_t lb[2] = { 0.5, -2.0 };
        real_t ub[2] = { 5.0, 2.0 };
        real_t lbA[1] = { -1.0 };
        real_t ubA[1] = { 2.0 };

        /* Setup data of second QP. */
        real_t g_new[2] = { 1.0, 1.5 };
        real_t lb_new[2] = { 0.0, -1.0 };
        real_t ub_new[2] = { 5.0, -0.5 };
        real_t lbA_new[1] = { -2.0 };
        real_t ubA_new[1] = { 1.0 };


        /* Setting up QProblem object. */
        QProblem example( 2,1 );

        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[2];
        real_t yOpt[2+1];
        example.getPrimalSolution( xOpt );
        example.getDualSolution( yOpt );
        printf( "\nxOpt = [ %e, %e ];  yOpt = [ %e, %e, %e ];  objVal = %e\n\n", 
                        xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2],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 second QP. */
        nWSR = 10;
        example.hotstart( g_new,lb_new,ub_new,lbA_new,ubA_new, nWSR );

        /* Get and print solution of second QP. */
        example.getPrimalSolution( xOpt );
        example.getDualSolution( yOpt );
        printf( "\nxOpt = [ %e, %e ];  yOpt = [ %e, %e, %e ];  objVal = %e\n\n", 
                        xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2],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
 */