/** Example for qpOASES main function using the QProblem class. */
int main( )
{
/* 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 };
int_t nWSR;
qpOASES_Options options;
real_t xOpt[2];
real_t yOpt[2+1];
real_t obj;
int_t status;
qpOASES_Options_init( &options,0 );
options.printLevel = PL_MEDIUM;
QProblem_setup( 2,1,HST_UNKNOWN );
/* Solve first QP. */
nWSR = 10;
QProblem_init( H,g,A,lb,ub,lbA,ubA,
&nWSR,0,&options,
xOpt,yOpt,&obj,&status
);
/* Print solution of first QP. */
printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e, %e ]; objVal = %e\n\n",
xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2], obj );
/* Solve second QP. */
nWSR = 10;
QProblem_hotstart( g_new,lb_new,ub_new,lbA_new,ubA_new,
&nWSR,0,
xOpt,yOpt,&obj,&status
);
/* Print solution of first QP. */
printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e, %e ]; objVal = %e\n\n",
xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2], obj );
QProblem_cleanup();
return 0;
}
/*
* Q P r o b l e m _ s e t u p
*/
int_t QProblem_setup( int_t nV,
int_t nC,
int_t hessianType
)
{
if ( ( nV < 1 ) || ( nC < 0 ) )
return -1;
if ( ( hessianType < 0 ) || ( hessianType > 6 ) )
return -1;
if ( QProblem_cleanup() != 0 )
return -1;
globalQProblemObject = new QProblem( nV,nC,(HessianType)hessianType );
return 0;
}
