/** Example for qpOASES main function using the QProblem class. */
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. */
static Options options;
static QProblem example;
int nWSR;
real_t xOpt[2];
real_t yOpt[2+1];
QProblemCON( &example,2,1,HST_UNKNOWN );
Options_setToDefault( &options );
QProblem_setOptions( &example,options );
/* Solve first QP. */
nWSR = 10;
QProblem_init( &example,H,g,A,lb,ub,lbA,ubA, &nWSR,0 );
/* Get and print solution of first QP. */
QProblem_getPrimalSolution( &example,xOpt );
QProblem_getDualSolution( &example,yOpt );
printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e, %e ]; objVal = %e\n\n",
xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2], QProblem_getObjVal( &example ) );
/* Solve second QP. */
nWSR = 10;
QProblem_hotstart( &example,g_new,lb_new,ub_new,lbA_new,ubA_new, &nWSR,0 );
/* Get and print solution of second QP. */
QProblem_getPrimalSolution( &example,xOpt );
QProblem_getDualSolution( &example,yOpt );
printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e, %e ]; objVal = %e\n\n",
xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2], QProblem_getObjVal( &example ) );
QProblem_printOptions( &example );
/*QProblem_printProperties( &example );*/
return 0;
}
/** Example for qpOASES main function using the QProblem class. */
double qpOASES(double* H,
double* g,
double* A,
double* lb,
double* ub,
double* lbA,
double* ubA,
double* xOpt,
double* yOpt,
int nV,
int nC
)
{
USING_NAMESPACE_QPOASES
/* Setting up QProblem object. */
static Options options;
static QProblem example;
int nWSR;
//double xOpt[nV];
double fval;
QProblemCON( &example, nV, nC, HST_UNKNOWN );
Options_setToDefault( &options );
QProblem_setOptions( &example,options );
/* Solve QP. */
nWSR = 10000;
QProblem_init( &example,H,g,A,lb,ub,lbA,ubA,&nWSR,0 );
/* Get and print solution of first QP. */
QProblem_getPrimalSolution( &example,xOpt );
QProblem_getDualSolution( &example,yOpt );
//for(int i = 0; i < nV; i++) {
// printf("%d %e\n", i+1, xOpt[i]);
//}
fval = QProblem_getObjVal( &example );
//printf("%e\n", fval);
return fval;
}
/*
* o b t a i n O u t p u t s
*/
returnValue obtainOutputs( int k, QProblem* qp, returnValue returnvalue, int _nWSRout, double _cpuTime,
int nlhs, mxArray* plhs[], int nV, int nC, int handle
)
{
double *x=0, *obj=0, *status=0, *nWSRout=0, *y=0, *workingSetB=0, *workingSetC=0, *cpuTime;
mxArray *auxOutput=0, *curField=0;
/* Create output vectors and assign pointers to them. */
int curIdx = 0;
/* handle */
if ( handle >= 0 )
plhs[curIdx++] = mxCreateDoubleScalar( handle );
/* x */
x = mxGetPr( plhs[curIdx++] );
QProblem_getPrimalSolution( qp,&(x[k*nV]) );
if ( nlhs > curIdx )
{
/* fval */
obj = mxGetPr( plhs[curIdx++] );
obj[k] = QProblem_getObjVal( qp );
if ( nlhs > curIdx )
{
/* exitflag */
status = mxGetPr( plhs[curIdx++] );
status[k] = (double)qpOASES_getSimpleStatus( returnvalue,0 );
if ( nlhs > curIdx )
{
/* iter */
nWSRout = mxGetPr( plhs[curIdx++] );
nWSRout[k] = (double) _nWSRout;
if ( nlhs > curIdx )
{
/* lambda */
y = mxGetPr( plhs[curIdx++] );
QProblem_getDualSolution( qp,&(y[k*(nV+nC)]) );
/* auxOutput */
if ( nlhs > curIdx )
{
auxOutput = plhs[curIdx];
curField = 0;
/* working set bounds */
if ( nV > 0 )
{
curField = mxGetField( auxOutput,0,"workingSetB" );
workingSetB = mxGetPr(curField);
QProblem_getWorkingSetBounds( qp,&(workingSetB[k*nV]) );
}
/* working set constraints */
if ( nC > 0 )
{
curField = mxGetField( auxOutput,0,"workingSetC" );
workingSetC = mxGetPr(curField);
QProblem_getWorkingSetConstraints( qp,&(workingSetC[k*nC]) );
}
/* cpu time */
curField = mxGetField( auxOutput,0,"cpuTime" );
cpuTime = mxGetPr(curField);
cpuTime[0] = (double) _cpuTime;
}
}
}
}
}
return SUCCESSFUL_RETURN;
}
