/* * S Q P r o b l e m _ s e t u p */ int_t SQProblem_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 ( SQProblem_cleanup() != 0 ) return -1; globalSQProblemObject = new SQProblem( nV,nC,(HessianType)hessianType ); return 0; }
/** 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 H_new[2*2] = { 1.0, 0.5, 0.5, 0.5 }; real_t A_new[1*2] = { 1.0, 5.0 }; 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; real_t xOpt[2]; real_t yOpt[2+1]; real_t obj; int_t status; qpOASES_Options options; qpOASES_Options_init( &options,0 ); SQProblem_setup( 2,1,HST_UNKNOWN ); /* Solve first QP. */ nWSR = 10; SQProblem_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; SQProblem_hotstart( H_new,g_new,A_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 ); SQProblem_cleanup(); return 0; }