/** 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 g[2] = { 1.5, 1.0 };
real_t lb[2] = { 0.5, -2.0 };
real_t ub[2] = { 5.0, 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 };
int_t nWSR;
qpOASES_Options options;
real_t xOpt[2];
real_t yOpt[2];
real_t obj;
int_t status;
qpOASES_Options_init( &options,0 );
/*options.enableFlippingBounds = 0; */
options.initialStatusBounds = ST_INACTIVE;
options.numRefinementSteps = 1;
options.enableCholeskyRefactorisation = 1;
QProblemB_setup( 2,HST_UNKNOWN );
/* Solve first QP. */
nWSR = 10;
QProblemB_init( H,g,lb,ub,
&nWSR,0,&options,
xOpt,yOpt,&obj,&status
);
/* Print solution of first QP. */
printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e ]; objVal = %e\n\n",
xOpt[0],xOpt[1],yOpt[0],yOpt[1], obj );
/* Solve second QP. */
nWSR = 10;
QProblemB_hotstart( g_new,lb_new,ub_new,
&nWSR,0,
xOpt,yOpt,&obj,&status
);
/* Print solution of first QP. */
printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e ]; objVal = %e\n\n",
xOpt[0],xOpt[1],yOpt[0],yOpt[1], obj );
QProblemB_cleanup();
return 0;
}
/*
* Q P r o b l e m B _ s e t u p
*/
int_t QProblemB_setup( int_t nV,
int_t hessianType
)
{
if ( nV < 1 )
return -1;
if ( ( hessianType < 0 ) || ( hessianType > 6 ) )
return -1;
if ( QProblemB_cleanup() != 0 )
return -1;
globalQProblemBObject = new QProblemB( nV,(HessianType)hessianType );
return 0;
}
