C++ (Cpp) getDualSolution Examples

Example #1

File: dense_qp_solver.cpp Project: ThomasBesselmann/acado

returnValue DenseQPsolver::solve( DenseCP *cp )
{
    ASSERT( cp != 0 );

    if( cp->isQP() == BT_FALSE )
        return ACADOERROR( RET_QP_SOLVER_CAN_ONLY_SOLVE_QP );

	if ( makeBoundsConsistent( cp ) != SUCCESSFUL_RETURN )
		return ACADOERROR( RET_QP_HAS_INCONSISTENT_BOUNDS );

	int maxNumQPiterations;
	get( MAX_NUM_QP_ITERATIONS, maxNumQPiterations );

    returnValue returnvalue;
    returnvalue = solve( &cp->H, &cp->A, &cp->g, &cp->lb, &cp->ub, &cp->lbA, &cp->ubA, maxNumQPiterations );

	if ( ( returnvalue != SUCCESSFUL_RETURN ) && ( returnvalue != RET_QP_SOLUTION_REACHED_LIMIT ) )
		return returnvalue;


    // GET THE PRIMAL AND DUAL SOLUTION FROM THE QP SOLVER AND
    // STORE THEM IN THE RIGHT FORMAT:
    // -------------------------------------------------------
    Vector xOpt, yOpt;

    getPrimalSolution( xOpt );
    getDualSolution  ( yOpt );

// 	xOpt.print("xOpt");
// 	yOpt.print("yOpt");

    cp->setQPsolution( xOpt,yOpt );
	
    return returnvalue;
}

Example #2

File: dense_qp_solver.cpp Project: rtkg/acado

returnValue DenseQPsolver::solveCP( DenseCP *cp )
{
    ASSERT( cp != 0 );

    if( cp->isQP() == BT_FALSE )
        return ACADOERROR( RET_QP_SOLVER_CAN_ONLY_SOLVE_QP );


    // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

    // QUICK HACK: SOLVE CALL SHOULD AVOID PASSING THE MAX-ITER ARGUMENT !!!


    const uint maxIter = 1000;

    // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!


    returnValue returnvalue;
    returnvalue = solve( &cp->H, &cp->A, &cp->g, &cp->lb, &cp->ub, &cp->lbA, &cp->ubA, maxIter );

    if( returnvalue != SUCCESSFUL_RETURN )
        return returnvalue;



    // GET THE PRIMAL AND DUAL SOLUTION FROM THE QP SOLVER AND
    // STORE THEM IN THE RIGHT FORMAT:
    // -------------------------------------------------------
    Vector xOpt, yOpt;

    getPrimalSolution( xOpt );
    getDualSolution  ( yOpt );
// 	printf( "DeltaU0 = [ %e, %e ]\n", xOpt(4+0),xOpt(4+1) );

// 	cp->lb.print("lb");

    cp->setQPsolution( xOpt, yOpt );
	
    return SUCCESSFUL_RETURN;
}