/** 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 QProblemB 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 g[2] = { 1.5, 1.0 };
real_t lb[2] = { 0.5, -2.0 };
real_t ub[2] = { 5.0, 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 };
/* Setting up QProblemB object. */
static QProblemB example;
static Options options;
int nWSR = 10;
real_t xOpt[2];
QProblemBCON( &example,2,HST_UNKNOWN );
Options_setToDefault( &options );
/* options.enableFlippingBounds = BT_FALSE; */
options.initialStatusBounds = ST_INACTIVE;
options.numRefinementSteps = 1;
/* options.enableCholeskyRefactorisation = 1; */
QProblemB_setOptions( &example,options );
/* Solve first QP. */
nWSR = 10;
QProblemB_init( &example,H,g,lb,ub, &nWSR,0 );
/* Get and print solution of second QP. */
QProblemB_getPrimalSolution( &example,xOpt );
printf( "\nxOpt = [ %e, %e ]; objVal = %e\n\n", xOpt[0],xOpt[1],QProblemB_getObjVal(&example) );
/* Solve second QP. */
nWSR = 10;
QProblemB_hotstart( &example,g_new,lb_new,ub_new, &nWSR,0 );
/* Get and print solution of second QP. */
QProblemB_getPrimalSolution( &example,xOpt );
printf( "\nxOpt = [ %e, %e ]; objVal = %e\n\n", xOpt[0],xOpt[1],QProblemB_getObjVal(&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;
}
/** Try to solve a list of or all OQP examples in testing/problems */
int main(int argc, char *argv[])
{
const real_t TOL = 1e-5;
/* 1) Define benchmark arguments. */
BooleanType isSparse = BT_FALSE;
BooleanType useHotstarts = BT_FALSE;
static Options options;
int maxAllowedNWSR;
real_t maxNWSR, avgNWSR, maxCPUtime, avgCPUtime;
real_t maxStationarity, maxFeasibility, maxComplementarity;
int scannedDir = 0;
int nfail = 0, npass = 0;
int nproblems, i;
struct dirent **namelist;
char resstr[200], OQPproblem[200];
char *problem;
returnValue returnvalue;
Options_setToDefault( &options );
/*options.enableFlippingBounds = BT_FALSE;*/
/*Options_setToReliable( &options );*/
Options_setToMPC( &options );
/*options.printLevel = PL_DEBUG_ITER;*/
options.printLevel = PL_LOW;
/*options.enableRamping = BT_FALSE;*/
/*options.enableFarBounds = BT_FALSE;*/
if (argc == 1)
{
/* 2a) Scan problem directory */
nproblems = scandir("../testing/c/data/problems", &namelist, NULL, alphasort);
if (nproblems <= 0)
{
qpOASES_myPrintf( "No test problems found!\n" );
return -1;
}
scannedDir = 1;
}
else
{
/* 2b) Use problem list given by arguments */
nproblems = argc - 1;
scannedDir = 0;
}
/* 3) Run benchmark. */
printf("%10s %9s %9s %9s %6s %-12s\n", "problem", "stat",
"feas", "compl", "nWSR", "result");
for (i = 0; i < nproblems; i++)
{
if (scannedDir)
{
/* skip special directories and zip file cuter.*bz2 */
if (namelist[i]->d_name[0] == '.' || namelist[i]->d_name[0] == 'c')
{
free(namelist[i]);
continue;
}
problem = namelist[i]->d_name;
}
else
{
problem = argv[i+1];
}
fprintf(stdout, "%-10s ", problem);
fflush(stdout);
snprintf(OQPproblem, 199, "../testing/c/data/problems/%s/", problem);
maxCPUtime = 300.0;
maxAllowedNWSR = 3500;
returnvalue = runOQPbenchmark( OQPproblem,
isSparse,useHotstarts,
&options,maxAllowedNWSR,
&maxNWSR,&avgNWSR,&maxCPUtime,&avgCPUtime,
&maxStationarity,&maxFeasibility,&maxComplementarity
);
if (returnvalue == SUCCESSFUL_RETURN
&& maxStationarity < TOL
&& maxFeasibility < TOL
&& maxComplementarity < TOL)
{
npass++;
strncpy(resstr, "pass", 199);
}
else
{
nfail++;
snprintf (resstr, 199, "fail (%d)", returnvalue);
}
fprintf(stdout, "%9.2e %9.2e %9.2e %6d %-12s\n", maxStationarity,
maxFeasibility, maxComplementarity, (int)maxNWSR, resstr);
if (scannedDir) free(namelist[i]);
}
if (scannedDir) free(namelist);
/* 4) Print results. */
printf("\n\n" );
printf("Testbench results:\n" );
printf("======================\n\n" );
printf("Pass: %3d\n", npass);
printf("Fail: %3d\n", nfail);
printf("Ratio: %5.1f%%\n", 100.0 * (real_t)npass / (real_t)(npass+nfail));
printf("\n" );
return 0;
}
