/*
* Q P r o b l e m _ h o t s t a r t
*/
int_t QProblem_hotstart( int_t handle,
const real_t* const g,
const real_t* const lb, const real_t* const ub,
const real_t* const lbA, const real_t* const ubA,
int_t nWSRin, real_t maxCpuTimeIn,
Options* options,
int_t nOutputs, mxArray* plhs[]
)
{
int_t nWSRout = nWSRin;
real_t maxCpuTimeOut = (maxCpuTimeIn >= 0.0) ? maxCpuTimeIn : INFTY;
QProblem* globalSQP = getQPInstance(handle)->sqp;
if ( globalSQP == 0 )
{
myMexErrMsgTxt( "ERROR (qpOASES): QP needs to be initialised first!" );
return -1;
}
int_t nV = globalSQP->getNV();
int_t nC = globalSQP->getNC();
/* 1) Solve QP with given options. */
globalSQP->setOptions( *options );
returnValue returnvalue = globalSQP->hotstart( g,lb,ub,lbA,ubA, nWSRout,&maxCpuTimeOut );
/* 2) Assign lhs arguments. */
obtainOutputs( 0,globalSQP,returnvalue,nWSRout,maxCpuTimeOut,
nOutputs,plhs,nV,nC );
return 0;
}
static void mdlStart(SimStruct *S)
{
#ifndef __DSPACE__
using namespace qpOASES;
#endif
int nU = NCONTROLINPUTS;
int size_H, size_g, size_A, size_lb, size_ub, size_lbA, size_ubA;
int nV, nC;
QProblem* problem;
real_t* count;
/* get block inputs dimensions */
size_H = ssGetInputPortWidth(S, 0);
size_g = ssGetInputPortWidth(S, 1);
size_A = ssGetInputPortWidth(S, 2);
size_lb = ssGetInputPortWidth(S, 3);
size_ub = ssGetInputPortWidth(S, 4);
size_lbA = ssGetInputPortWidth(S, 5);
size_ubA = ssGetInputPortWidth(S, 6);
/* dimension checks */
nV = size_g;
nC = (int) ( ((real_t) size_A) / ((real_t) nV) );
if ( nV == 0 )
{
#ifndef __DSPACE__
#ifndef __XPCTARGET__
mexErrMsgTxt( "ERROR (qpOASES): Dimension mismatch!" );
#endif
#endif
return;
}
if ( size_H != nV*nV )
{
#ifndef __DSPACE__
#ifndef __XPCTARGET__
mexErrMsgTxt( "ERROR (qpOASES): Dimension mismatch!" );
#endif
#endif
return;
}
if ( nU > nV )
{
#ifndef __DSPACE__
#ifndef __XPCTARGET__
mexErrMsgTxt( "ERROR (qpOASES): Dimension mismatch!" );
#endif
#endif
return;
}
if ( size_lb != nV )
{
#ifndef __DSPACE__
#ifndef __XPCTARGET__
mexErrMsgTxt( "ERROR (qpOASES): Dimension mismatch!" );
#endif
#endif
return;
}
if ( size_ub != nV )
{
#ifndef __DSPACE__
#ifndef __XPCTARGET__
mexErrMsgTxt( "ERROR (qpOASES): Dimension mismatch!" );
#endif
#endif
return;
}
if ( size_lbA != nC )
{
#ifndef __DSPACE__
#ifndef __XPCTARGET__
mexErrMsgTxt( "ERROR (qpOASES): Dimension mismatch!" );
#endif
#endif
return;
}
if ( size_ubA != nC )
{
#ifndef __DSPACE__
#ifndef __XPCTARGET__
mexErrMsgTxt( "ERROR (qpOASES): Dimension mismatch!" );
#endif
#endif
return;
}
/* allocate QProblem object */
problem = new QProblem( nV,nC );
if ( problem == 0 )
{
#ifndef __DSPACE__
#ifndef __XPCTARGET__
mexErrMsgTxt( "ERROR (qpOASES): Unable to create QProblem object!" );
#endif
#endif
return;
}
Options problemOptions;
problemOptions.setToMPC();
problem->setOptions( problemOptions );
#ifndef __DEBUG__
problem->setPrintLevel( PL_LOW );
#endif
#ifdef __SUPPRESSANYOUTPUT__
problem->setPrintLevel( PL_NONE );
#endif
#ifdef __DSPACE__
problem->setPrintLevel( PL_NONE );
#endif
ssGetPWork(S)[0] = (void *) problem;
/* allocate memory for QP data ... */
ssGetPWork(S)[1] = (void *) calloc( size_H, sizeof(real_t) ); /* H */
ssGetPWork(S)[2] = (void *) calloc( size_g, sizeof(real_t) ); /* g */
ssGetPWork(S)[3] = (void *) calloc( size_A, sizeof(real_t) ); /* A */
ssGetPWork(S)[4] = (void *) calloc( size_lb, sizeof(real_t) ); /* lb */
ssGetPWork(S)[5] = (void *) calloc( size_ub, sizeof(real_t) ); /* ub */
ssGetPWork(S)[6] = (void *) calloc( size_lbA, sizeof(real_t) ); /* lbA */
ssGetPWork(S)[7] = (void *) calloc( size_ubA, sizeof(real_t) ); /* ubA */
ssGetPWork(S)[8] = (void *) calloc( 1, sizeof(real_t) ); /* count */
/* reset counter */
count = (real_t *) ssGetPWork(S)[8];
count[0] = 0.0;
}
