/** Example for qpOASES main function using the QProblem class. */
int main( )
{
USING_NAMESPACE_QPOASES
/* Setup data of first QP. */
real_t H[4*4] = { 1.0, 0.0, 0.0, 0.5,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.5, 0.0, 0.0, 1.0 };
real_t A[3*4] = { 1.0, 1.0, 0.0, 0.0,
1.0, 1.0, 1.0, 0.0,
1.0, 1.0, 1.0, 1.0 };
real_t g[4] = { 1.5, 1.0, -1.0, -1.0 };
real_t lb[4] = { 0.5, -2.0, 0.0, 0.0 };
real_t ub[4] = { 1.0, 2.0, 1.0, 0.5 };
real_t lbA[3] = { -1.0, -1.0, -1.0 };
real_t ubA[3] = { 0.0, 0.25, 1.0 };
/* Setting up QProblem object. */
QProblem example( 4,3 );
Options options;
example.setOptions( options );
/* Solve first QP. */
int nWSR = 10;
example.init( H,g,A,lb,ub,lbA,ubA, nWSR );
/* Get and print solution of second QP. */
real_t xOpt[4];
real_t yOpt[4+3];
example.getPrimalSolution( xOpt );
example.getDualSolution( yOpt );
print( xOpt,4,"xOpt" );
print( yOpt,4+3,"yOpt" );
printf( "objVal = %e\n\n", example.getObjVal() );
/* Compute KKT tolerances */
real_t stat, feas, cmpl;
getKKTResidual( 4,3,
H,g,A,lb,ub,lbA,ubA,
xOpt,yOpt,
stat,feas,cmpl
);
printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );
QPOASES_TEST_FOR_TRUE( stat <= 1e-15 );
QPOASES_TEST_FOR_TRUE( feas <= 1e-15 );
QPOASES_TEST_FOR_TRUE( cmpl <= 1e-15 );
/* Solve first QP again (with optimal guess for working set). */
Bounds prevBounds;
Constraints prevConstraints;
example.getBounds( prevBounds );
example.getConstraints( prevConstraints );
nWSR = 10;
example.hotstart( g,lb,ub,lbA,ubA, nWSR,0,&prevBounds,&prevConstraints );
/* Get and print solution of second QP. */
example.getPrimalSolution( xOpt );
example.getDualSolution( yOpt );
print( xOpt,4,"xOpt" );
print( yOpt,4+3,"yOpt" );
printf( "objVal = %e\n\n", example.getObjVal() );
/* Compute KKT tolerances */
getKKTResidual( 4,3,
H,g,A,lb,ub,lbA,ubA,
xOpt,yOpt,
stat,feas,cmpl
);
printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );
QPOASES_TEST_FOR_TRUE( stat <= 1e-15 );
QPOASES_TEST_FOR_TRUE( feas <= 1e-15 );
QPOASES_TEST_FOR_TRUE( cmpl <= 1e-15 );
/* Solve first QP again (with inaccurate guess for working set). */
prevBounds.print();
prevBounds.rotate(1);
//prevBounds.moveFixedToFree(0);
prevBounds.print();
prevConstraints.print();
//prevConstraints.moveInactiveToActive(0,ST_LOWER);
prevConstraints.moveActiveToInactive(1);
prevConstraints.print();
nWSR = 10;
example.hotstart( g,lb,ub,lbA,ubA, nWSR,0,&prevBounds,&prevConstraints );
/* Get and print solution of second QP. */
example.getPrimalSolution( xOpt );
example.getDualSolution( yOpt );
print( xOpt,4,"xOpt" );
print( yOpt,4+3,"yOpt" );
printf( "objVal = %e\n\n", example.getObjVal() );
/* Compute KKT tolerances */
getKKTResidual( 4,3,
H,g,A,lb,ub,lbA,ubA,
xOpt,yOpt,
stat,feas,cmpl
);
printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );
QPOASES_TEST_FOR_TRUE( stat <= 1e-15 );
QPOASES_TEST_FOR_TRUE( feas <= 1e-15 );
QPOASES_TEST_FOR_TRUE( cmpl <= 1e-15 );
return TEST_PASSED;
}
