test_gradientShift.cpp

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/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2009 by Hans Joachim Ferreau 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 <math.h>
#include <iostream>
#include <qpOASES.hpp>
#include <qpOASES/UnitTesting.hpp>


int main( )
{
        USING_NAMESPACE_QPOASES

        
        real_t H[2*2]   = { 0.055944055944055944,0, 0, 0 };
        real_t A[1*2]   = { 0.70514808036997589, -1 };
        //real_t g[2]   = { -15.830543073928741, 0};
        real_t g[2]             = { 0, 0 };
        real_t lb[2]    = { 137.00242299940646, 154.0 };
        real_t ub[2]    = { 282.19008595111382, 198.98579740786641};
        real_t lbA[1]   = {0.0};
        real_t ubA[1]   = {0.0};
        
        real_t gStart=-16.4;
 
        /* Setting up QProblem object. */
        QProblem example( 2,1 );
        Options options;
        options.setToMPC();
        options.printLevel = REFER_NAMESPACE_QPOASES PL_NONE;
        example.setOptions( options );
        
        returnValue ret;
        int_t nWSR = 10;
        real_t Xopt[2]={0.0,0.0};
        //fprintf(stdFile, "g[0]\t,\tReturn code\n");
        int_t errorCount=0;
        int_t i=0;
        real_t granularity=0.00001;
        g[0]=gStart;
        for( i=0; i< 70000; i++)
        {

                g[0] += granularity;
                /* Solve first QP. */
                nWSR = 10;
                ret= example.init( H,g,A,lb,ub,lbA,ubA, nWSR,0 );
                if (ret != SUCCESSFUL_RETURN)
                {
                        //fprintf(stdFile, "%f\t,\t%d\n",g[0],ret);
                        errorCount++;
                }
                //fprintf(stdFile, "%f\t,\t%d\n",g[0],ret);
        }
        example.printProperties();
        fprintf( stdFile, "#Number of optimizer runs: %d\n",(int)i );
        fprintf( stdFile, "#g[0] test interval: %f < g[0] < %f\n",gStart,g[0] );
        fprintf( stdFile, "#Granularity: %f\n",granularity);
        real_t errorPercent = real_t(errorCount)/real_t(i)*100.0;
        fprintf( stdFile, "#Number of errors (error): %d (%f)\n",(int)errorCount,errorPercent );

        example.getPrimalSolution(Xopt);
        fprintf( stdFile,"#Optimization primary result : LD=%f BD=%f\n",Xopt[0], Xopt[1]);

        real_t Yopt[3]={0.0,0.0,0.0};
        example.getDualSolution(Yopt);
        fprintf( stdFile,"#Optimization dual result : %f %f %f8\n",Yopt[0], Yopt[1], Yopt[2]);

        int_t Nc=0;
        Nc=example.getNC();
        fprintf( stdFile,"#Number of constraints : %d\n",(int)Nc );

        int_t Nec=0;
        Nec=example.getNEC();
        fprintf( stdFile,"#Number of equality constraints : %d\n",(int)Nec );

        int_t Nac=0;
        Nac=example.getNAC();
        fprintf( stdFile,"#Number of active constraints : %d\n",(int)Nac );

        int_t Niac=0;
        Niac=example.getNIAC();
        fprintf( stdFile,"#Number of inactive constraints : %d\n",(int)Niac );

        QPOASES_TEST_FOR_TRUE( errorCount == 0 )

        return TEST_PASSED;
}


/*
 *      end of file
 */