/*
* r e a d F r o m F i l e
*/
returnValue qpOASES_readFromFileV( real_t* data, int n,
const char* datafilename
)
{
return qpOASES_readFromFileM( data, n, 1, datafilename );
}
/*
* r e a d O Q P d a t a
*/
returnValue readOQPdata( const char* path,
int* nQP, int* nV, int* nC, int* nEC,
real_t* H, real_t* g, real_t* A, real_t* lb, real_t* ub, real_t* lbA, real_t* ubA,
real_t* xOpt, real_t* yOpt, real_t* objOpt
)
{
char filename[QPOASES_MAX_STRING_LENGTH];
/* consistency check */
if ( ( H == 0 ) || ( g == 0 ) || ( lb == 0 ) || ( ub == 0 ) )
return THROWERROR( RET_INVALID_ARGUMENTS );
/* 1) Obtain OQP dimensions. */
if ( readOQPdimensions( path, nQP,nV,nC,nEC ) != SUCCESSFUL_RETURN )
return THROWERROR( RET_UNABLE_TO_READ_FILE );
/* another consistency check */
if ( ( *nC > 0 ) && ( ( A == 0 ) || ( lbA == 0 ) || ( ubA == 0 ) ) )
return THROWERROR( RET_FILEDATA_INCONSISTENT );
/* 2) Allocate memory and load OQP data: */
/* Hessian matrix */
snprintf( filename,QPOASES_MAX_STRING_LENGTH,"%sH.oqp",path );
if ( qpOASES_readFromFileM( H,(*nV),(*nV),filename ) != SUCCESSFUL_RETURN )
return THROWERROR( RET_UNABLE_TO_READ_FILE );
/* gradient vector sequence */
snprintf( filename,QPOASES_MAX_STRING_LENGTH,"%sg.oqp",path );
if ( qpOASES_readFromFileM( g,(*nQP),(*nV),filename ) != SUCCESSFUL_RETURN )
return THROWERROR( RET_UNABLE_TO_READ_FILE );
/* lower bound vector sequence */
snprintf( filename,QPOASES_MAX_STRING_LENGTH,"%slb.oqp",path );
if ( qpOASES_readFromFileM( lb,(*nQP),(*nV),filename ) != SUCCESSFUL_RETURN )
return THROWERROR( RET_UNABLE_TO_READ_FILE );
/* upper bound vector sequence */
snprintf( filename,QPOASES_MAX_STRING_LENGTH,"%sub.oqp",path );
if ( qpOASES_readFromFileM( ub,(*nQP),(*nV),filename ) != SUCCESSFUL_RETURN )
return THROWERROR( RET_UNABLE_TO_READ_FILE );
if ( (*nC) > 0 )
{
/* Constraint matrix */
snprintf( filename,QPOASES_MAX_STRING_LENGTH,"%sA.oqp",path );
if ( qpOASES_readFromFileM( A,(*nC),(*nV),filename ) != SUCCESSFUL_RETURN )
return THROWERROR( RET_UNABLE_TO_READ_FILE );
/* lower constraints' bound vector sequence */
snprintf( filename,QPOASES_MAX_STRING_LENGTH,"%slbA.oqp",path );
if ( qpOASES_readFromFileM( lbA,(*nQP),(*nC),filename ) != SUCCESSFUL_RETURN )
return THROWERROR( RET_UNABLE_TO_READ_FILE );
/* upper constraints' bound vector sequence */
snprintf( filename,QPOASES_MAX_STRING_LENGTH,"%subA.oqp",path );
if ( qpOASES_readFromFileM( ubA,(*nQP),(*nC),filename ) != SUCCESSFUL_RETURN )
return THROWERROR( RET_UNABLE_TO_READ_FILE );
}
if ( xOpt != 0 )
{
/* primal solution vector sequence */
snprintf( filename,QPOASES_MAX_STRING_LENGTH,"%sx_opt.oqp",path );
if ( qpOASES_readFromFileM( xOpt,(*nQP),(*nV),filename ) != SUCCESSFUL_RETURN )
return THROWERROR( RET_UNABLE_TO_READ_FILE );
}
if ( yOpt != 0 )
{
/* dual solution vector sequence */
snprintf( filename,QPOASES_MAX_STRING_LENGTH,"%sy_opt.oqp",path );
if ( qpOASES_readFromFileM( yOpt,(*nQP),(*nV)+(*nC),filename ) != SUCCESSFUL_RETURN )
return THROWERROR( RET_UNABLE_TO_READ_FILE );
}
if ( objOpt != 0 )
{
/* dual solution vector sequence */
snprintf( filename,QPOASES_MAX_STRING_LENGTH,"%sobj_opt.oqp",path );
if ( qpOASES_readFromFileM( objOpt,(*nQP),1,filename ) != SUCCESSFUL_RETURN )
return THROWERROR( RET_UNABLE_TO_READ_FILE );
}
return SUCCESSFUL_RETURN;
}