test_hs268.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 <dirent.h>
#include <cstring>
#include <cstdlib>
#include <qpOASES.hpp>
#include <qpOASES/UnitTesting.hpp>


int main( int argc, char *argv[] )
{
        USING_NAMESPACE_QPOASES

        /* 1) Define benchmark arguments. */
        BooleanType isSparse = BT_FALSE;
        //BooleanType isSparse = BT_TRUE;
        Options options;
        options.setToDefault();
        //options.setToMPC();
        //options.setToReliable();
        //options.printLevel = PL_LOW;
        //options.printLevel = PL_MEDIUM;
        options.printLevel = PL_TABULAR;


        int_t nWSR;
        int_t npass = 0;
        real_t maxCPUtime; /* seconds */
        real_t maxStationarity = 0.0, maxFeasibility = 0.0, maxComplementarity = 0.0;

        char oqpProblem[MAX_STRING_LENGTH];
        char problem[] = "HS268";
        returnValue returnvalue;

        
        /* 3) Run benchmark. */
        fprintf(stdFile, "%-10s ", problem);
        fflush(stdFile);

        snprintf(oqpProblem, MAX_STRING_LENGTH, "../testing/cpp/data/problems/%s/", problem);
        maxCPUtime = 100.0;
        nWSR = 100;

        returnvalue = runOqpBenchmark(  oqpProblem, isSparse, options,
                                                                        nWSR, maxCPUtime, maxStationarity, maxFeasibility, maxComplementarity 
                                                                        );

        if(returnvalue == SUCCESSFUL_RETURN) {
                npass += 1;
        }

        QPOASES_TEST_FOR_TRUE( npass >= 1 );

        printf( "\n" );
        printf( "stat:  %e\n", maxStationarity    );
        printf( "feas:  %e\n", maxFeasibility     );
        printf( "cmpl:  %e\n", maxComplementarity );

        QPOASES_TEST_FOR_TOL( maxStationarity,    1e-11 );
        QPOASES_TEST_FOR_TOL( maxFeasibility,     1e-14 );
        QPOASES_TEST_FOR_TOL( maxComplementarity, 1e-14 );


        return 0;
}


/*
 *      end of file
 */