/** 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;
}
/** 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 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;
}
