void LpToQp::init() {
// Initialize the base classes
LpSolverInternal::init();
// Create a QpSolver instance
solver_ = QpSolver(getOption(solvername()),
qpStruct("h", Sparsity::sparse(n_, n_),
"a", input(LP_SOLVER_A).sparsity()));
if (hasSetOption(optionsname())) solver_.setOption(getOption(optionsname()));
solver_.init();
}
void StabilizedQpToQp::init() {
// Initialize the base classes
StabilizedQpSolverInternal::init();
// Form augmented QP
Sparsity H_sparsity_qp = diagcat(st_[QP_STRUCT_H], Sparsity::diag(nc_));
Sparsity A_sparsity_qp = horzcat(st_[QP_STRUCT_A], Sparsity::diag(nc_));
std::string qp_solver_name = getOption("qp_solver");
qp_solver_ = QpSolver(qp_solver_name,
qpStruct("h", H_sparsity_qp, "a", A_sparsity_qp));
// Pass options if provided
if (hasSetOption("qp_solver_options")) {
Dictionary qp_solver_options = getOption("qp_solver_options");
qp_solver_.setOption(qp_solver_options);
}
// Initialize the QP solver
qp_solver_.init();
}
