/*
* S Q P r o b l e m _ h o t s t a r t
*/
int_t SQProblem_hotstart( int_t handle,
SymmetricMatrix* H, real_t* g, Matrix* A,
const real_t* const lb, const real_t* const ub, const real_t* const lbA, const real_t* const ubA,
int_t nWSRin, real_t maxCpuTimeIn,
Options* options,
int_t nOutputs, mxArray* plhs[]
)
{
int_t nWSRout = nWSRin;
real_t maxCpuTimeOut = (maxCpuTimeIn >= 0.0) ? maxCpuTimeIn : INFTY;
SQProblem* globalSQP = getQPInstance(handle)->sqp;
if ( globalSQP == 0 )
{
myMexErrMsgTxt( "ERROR (qpOASES): QP needs to be initialised first!" );
return -1;
}
int_t nV = globalSQP->getNV();
int_t nC = globalSQP->getNC();
/* 1) Solve QP. */
globalSQP->setOptions( *options );
returnValue returnvalue = globalSQP->hotstart( H,g,A,lb,ub,lbA,ubA, nWSRout,&maxCpuTimeOut );
switch (returnvalue)
{
case SUCCESSFUL_RETURN:
case RET_QP_UNBOUNDED:
case RET_QP_INFEASIBLE:
break;
default:
myMexErrMsgTxt( "ERROR (qpOASES): Hotstart failed." );
return -1;
}
/* 2) Assign lhs arguments. */
obtainOutputs( 0,globalSQP,returnvalue,nWSRout,maxCpuTimeOut,
nOutputs,plhs,nV,nC );
return 0;
}
/*
* S Q P r o b l e m _ i n i t
*/
int_t SQProblem_init( int_t handle,
SymmetricMatrix* H, real_t* g, Matrix* A,
const real_t* const lb, const real_t* const ub,
const real_t* const lbA, const real_t* const ubA,
int_t nWSRin, real_t maxCpuTimeIn,
const double* const x0, Options* options,
int_t nOutputs, mxArray* plhs[],
const double* const guessedBounds, const double* const guessedConstraints,
const double* const _R
)
{
int_t nWSRout = nWSRin;
real_t maxCpuTimeOut = (maxCpuTimeIn >= 0.0) ? maxCpuTimeIn : INFTY;
/* 1) setup initial QP. */
SQProblem* globalSQP = getQPInstance(handle)->sqp;
if ( globalSQP == 0 )
{
myMexErrMsgTxt( "ERROR (qpOASES): Invalid handle to QP instance!" );
return -1;
}
globalSQP->setOptions( *options );
/* 2) Solve initial QP. */
returnValue returnvalue;
int_t nV = globalSQP->getNV();
int_t nC = globalSQP->getNC();
/* 3) Fill the working set. */
Bounds bounds(nV);
Constraints constraints(nC);
if (guessedBounds != 0) {
for (int_t i = 0; i < nV; i++) {
if ( isEqual(guessedBounds[i],-1.0) == BT_TRUE ) {
bounds.setupBound(i, ST_LOWER);
} else if ( isEqual(guessedBounds[i],1.0) == BT_TRUE ) {
bounds.setupBound(i, ST_UPPER);
} else if ( isEqual(guessedBounds[i],0.0) == BT_TRUE ) {
bounds.setupBound(i, ST_INACTIVE);
} else {
char msg[MAX_STRING_LENGTH];
snprintf(msg, MAX_STRING_LENGTH,
"ERROR (qpOASES): Only {-1, 0, 1} allowed for status of bounds!");
myMexErrMsgTxt(msg);
return -1;
}
}
}
if (guessedConstraints != 0) {
for (int_t i = 0; i < nC; i++) {
if ( isEqual(guessedConstraints[i],-1.0) == BT_TRUE ) {
constraints.setupConstraint(i, ST_LOWER);
} else if ( isEqual(guessedConstraints[i],1.0) == BT_TRUE ) {
constraints.setupConstraint(i, ST_UPPER);
} else if ( isEqual(guessedConstraints[i],0.0) == BT_TRUE ) {
constraints.setupConstraint(i, ST_INACTIVE);
} else {
char msg[MAX_STRING_LENGTH];
snprintf(msg, MAX_STRING_LENGTH,
"ERROR (qpOASES): Only {-1, 0, 1} allowed for status of constraints!");
myMexErrMsgTxt(msg);
return -1;
}
}
}
returnvalue = globalSQP->init( H,g,A,lb,ub,lbA,ubA,
nWSRout,&maxCpuTimeOut,
x0,0,
(guessedBounds != 0) ? &bounds : 0, (guessedConstraints != 0) ? &constraints : 0,
_R
);
/* 3) Assign lhs arguments. */
obtainOutputs( 0,globalSQP,returnvalue,nWSRout,maxCpuTimeOut,
nOutputs,plhs,nV,nC,handle );
return 0;
}
