/** Example for qpOASES main function using the QProblemB 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 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 };
/* Setting up QProblemB object. */
QProblemB example( 2 );
Options options;
//options.enableFlippingBounds = BT_FALSE;
options.initialStatusBounds = ST_INACTIVE;
options.numRefinementSteps = 1;
options.enableCholeskyRefactorisation = 1;
example.setOptions( options );
/* Solve first QP. */
int nWSR = 10;
example.init( H,g,lb,ub, nWSR,0 );
// printf( "\nnWSR = %d\n\n", nWSR );
real_t xOpt[2];
real_t yOpt[2];
example.getPrimalSolution( xOpt );
example.getDualSolution( yOpt );
/* Compute KKT tolerances */
real_t stat, feas, cmpl;
SolutionAnalysis analyzer;
analyzer.getKktViolation( &example, &stat,&feas,&cmpl );
printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );
QPOASES_TEST_FOR_TOL( stat,1e-15 );
QPOASES_TEST_FOR_TOL( feas,1e-15 );
QPOASES_TEST_FOR_TOL( cmpl,1e-15 );
/* Solve second QP. */
nWSR = 10;
example.hotstart( g_new,lb_new,ub_new, nWSR,0 );
// printf( "\nnWSR = %d\n\n", nWSR );
/* Get and print solution of second QP. */
example.getPrimalSolution( xOpt );
example.getDualSolution( yOpt );
printf( "\nxOpt = [ %e, %e ]; objVal = %e\n\n", xOpt[0],xOpt[1],example.getObjVal() );
/* Compute KKT tolerances */
analyzer.getKktViolation( &example, &stat,&feas,&cmpl );
printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );
QPOASES_TEST_FOR_TOL( stat,1e-15 );
QPOASES_TEST_FOR_TOL( feas,1e-15 );
QPOASES_TEST_FOR_TOL( cmpl,1e-15 );
return TEST_PASSED;
}
/** Example for qpOASES main function using the SolutionAnalysis 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 H_new[2*2] = { 1.0, 0.5, 0.5, 0.5 };
real_t A_new[1*2] = { 1.0, 5.0 };
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 SQProblem object and solution analyser. */
SQProblem example( 2,1 );
SolutionAnalysis analyser;
/* Solve first QP ... */
int_t nWSR = 10;
example.init( H,g,A,lb,ub,lbA,ubA, nWSR,0 );
/* ... and analyse it. */
real_t maxKktViolation = analyser.getKktViolation( &example );
printf( "maxKktViolation: %e\n", maxKktViolation );
QPOASES_TEST_FOR_TOL( maxKktViolation,1e-15 );
/* Solve second QP ... */
nWSR = 10;
example.hotstart( H_new,g_new,A_new,lb_new,ub_new,lbA_new,ubA_new, nWSR,0 );
/* ... and analyse it. */
maxKktViolation = analyser.getKktViolation( &example );
printf( "maxKktViolation: %e\n", maxKktViolation );
QPOASES_TEST_FOR_TOL( maxKktViolation,1e-15 );
// ------------ VARIANCE-COVARIANCE EVALUATION --------------------
real_t *Var = new real_t[5*5];
real_t *Primal_Dual_Var = new real_t[5*5];
int_t run1, run2;
for( run1 = 0; run1 < 5*5; run1++ )
Var[run1] = 0.0;
Var[0] = 1.0;
Var[6] = 1.0;
// ( 1 0 0 0 0 )
// ( 0 1 0 0 0 )
// Var = ( 0 0 0 0 0 )
// ( 0 0 0 0 0 )
// ( 0 0 0 0 0 )
analyser.getVarianceCovariance( &example, Var,Primal_Dual_Var );
printf("\nPrimal_Dual_VAR = \n");
for( run1 = 0; run1 < 5; run1++ ){
for( run2 = 0; run2 < 5; run2++ ){
printf(" %10f", Primal_Dual_Var[run1*5+run2]);
}
printf("\n");
}
delete[] Primal_Dual_Var;
delete[] Var;
QPOASES_TEST_FOR_NEAR( Primal_Dual_Var[3*5+3], 26.0 );
return TEST_PASSED;
}
/** Example for qpOASES main function using the QProblem class. */
int main( )
{
USING_NAMESPACE_QPOASES
/* Setup data of first QP. */
real_t H[4*4] = { 1.0, 0.0, 0.0, 0.5,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.5, 0.0, 0.0, 1.0 };
real_t A[3*4] = { 1.0, 1.0, 0.0, 0.0,
1.0, 1.0, 1.0, 0.0,
1.0, 1.0, 1.0, 1.0 };
real_t g[4] = { 1.5, 1.0, -1.0, -1.0 };
real_t lb[4] = { 0.5, -2.0, 0.0, 0.0 };
real_t ub[4] = { 1.0, 2.0, 1.0, 0.5 };
real_t lbA[3] = { -1.0, -1.0, -1.0 };
real_t ubA[3] = { 0.0, 0.25, 1.0 };
/* Setting up QProblem object. */
QProblem example( 4,3 );
Options options;
example.setOptions( options );
/* Solve first QP. */
int_t nWSR = 10;
example.init( H,g,A,lb,ub,lbA,ubA, nWSR );
/* Get and print solution of second QP. */
real_t xOpt[4];
real_t yOpt[4+3];
example.getPrimalSolution( xOpt );
example.getDualSolution( yOpt );
print( xOpt,4,"xOpt" );
print( yOpt,4+3,"yOpt" );
printf( "objVal = %e\n\n", example.getObjVal() );
/* Compute KKT tolerances */
real_t stat, feas, cmpl;
SolutionAnalysis analyzer;
analyzer.getKktViolation( &example, &stat,&feas,&cmpl );
printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );
QPOASES_TEST_FOR_TOL( stat,1e-15 );
QPOASES_TEST_FOR_TOL( feas,1e-15 );
QPOASES_TEST_FOR_TOL( cmpl,1e-15 );
/* Solve first QP again (with optimal guess for working set). */
Bounds prevBounds;
Constraints prevConstraints;
example.getBounds( prevBounds );
example.getConstraints( prevConstraints );
nWSR = 10;
example.hotstart( g,lb,ub,lbA,ubA, nWSR,0,&prevBounds,&prevConstraints );
/* Get and print solution of second QP. */
example.getPrimalSolution( xOpt );
example.getDualSolution( yOpt );
print( xOpt,4,"xOpt" );
print( yOpt,4+3,"yOpt" );
printf( "objVal = %e\n\n", example.getObjVal() );
/* Compute KKT tolerances */
analyzer.getKktViolation( &example, &stat,&feas,&cmpl );
printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );
QPOASES_TEST_FOR_TOL( stat,1e-15 );
QPOASES_TEST_FOR_TOL( feas,1e-15 );
QPOASES_TEST_FOR_TOL( cmpl,1e-15 );
/* Solve first QP again (with inaccurate guess for working set). */
prevBounds.print();
prevBounds.rotate(1);
//prevBounds.moveFixedToFree(0);
prevBounds.print();
prevConstraints.print();
//prevConstraints.moveInactiveToActive(0,ST_LOWER);
prevConstraints.moveActiveToInactive(1);
prevConstraints.print();
nWSR = 10;
example.hotstart( g,lb,ub,lbA,ubA, nWSR,0,&prevBounds,&prevConstraints );
/* Get and print solution of second QP. */
example.getPrimalSolution( xOpt );
example.getDualSolution( yOpt );
print( xOpt,4,"xOpt" );
print( yOpt,4+3,"yOpt" );
printf( "objVal = %e\n\n", example.getObjVal() );
/* Compute KKT tolerances */
analyzer.getKktViolation( &example, &stat,&feas,&cmpl );
printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );
QPOASES_TEST_FOR_TOL( stat,1e-15 );
QPOASES_TEST_FOR_TOL( feas,1e-15 );
QPOASES_TEST_FOR_TOL( cmpl,1e-15 );
return TEST_PASSED;
}
/** Example for qpOASES main function using the SQProblem 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 H_new[2*2] = { 1.0, 0.5, 0.5, 0.5 };
real_t A_new[1*2] = { 1.0, 5.0 };
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 SQProblem object. */
SQProblem example( 2,1 );
/* Solve first QP. */
int nWSR = 10;
example.init( H,g,A,lb,ub,lbA,ubA, nWSR,0 );
real_t xOpt[2];
real_t yOpt[2+1];
example.getPrimalSolution( xOpt );
example.getDualSolution( yOpt );
/* Compute KKT tolerances */
real_t stat, feas, cmpl;
SolutionAnalysis analyzer;
analyzer.getKktViolation( &example, &stat,&feas,&cmpl );
printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );
QPOASES_TEST_FOR_TOL( stat,1e-15 );
QPOASES_TEST_FOR_TOL( feas,1e-15 );
QPOASES_TEST_FOR_TOL( cmpl,1e-15 );
/* Solve second QP. */
nWSR = 10;
example.hotstart( H_new,g_new,A_new,lb_new,ub_new,lbA_new,ubA_new, nWSR,0 );
/* Get and print solution of second QP. */
example.getPrimalSolution( xOpt );
example.getDualSolution( yOpt );
printf( "\nxOpt = [ %e, %e ]; objVal = %e\n\n", xOpt[0],xOpt[1],example.getObjVal() );
/* Compute KKT tolerances */
analyzer.getKktViolation( &example, &stat,&feas,&cmpl );
printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );
QPOASES_TEST_FOR_TOL( stat,1e-15 );
QPOASES_TEST_FOR_TOL( feas,1e-15 );
QPOASES_TEST_FOR_TOL( cmpl,1e-15 );
return TEST_PASSED;
}
/** Example for qpOASES main function using the QProblem class. */
int main( )
{
USING_NAMESPACE_QPOASES
/* Setup data of first QP. */
real_t H[5*5] = { 1.224642131370767e+01, 2.908638763113702e+00, 0.0, 0.0, 0.0,
2.908638763113702e+00, 2.497106275003180e+00, 0.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 0.0, 5.158460640334052e-02, 4.723556059962540e-02,
0.0, 0.0, 0.0, 4.723556059962540e-02, 4.325317843302175e-02 };
real_t A[2*5] = { -1.404358970692652e+00, -2.556613491156063e+00, 3.202524559238066e+00, -1.0, 0.0,
6.587910295430314e-01, -5.349454475937998e-01, 4.391976356955536e-01, 0.0, -1.0 };
real_t g[5] = { 2.474135331302147e+01,
5.857286430296258e+00,
2.359382646348721e-01,
1.721047069188781e-01,
1.575947337774199e-01 };
real_t lb[5] = { -10.0, -10.0, -10.0, -10.0, -10.0 };
real_t ub[5] = { 10.0, 10.0, 10.0, 10.0, 10.0 };
real_t lbA[2] = { 1.643135416077167e+00, 1.056813028189597e+00 };
real_t ubA[2] = { 1.643135416077167e+00, 1.056813028189597e+00 };
/* Setting up QProblem object. */
QProblem example( 5,2 );
Options options;
//options.enableFlippingBounds = BT_FALSE;
//options.enableEqualities = BT_TRUE;
//options.initialStatusBounds = ST_INACTIVE;
example.setOptions( options );
example.setPrintLevel( PL_NONE );
/* Solve first QP. */
returnValue retVal;
int_t simpleStatus = -1;
int_t nWSR = 10;
retVal = example.init( H,g,A,lb,ub,lbA,ubA, nWSR,0 );
simpleStatus = getSimpleStatus( retVal,BT_TRUE );
QPOASES_TEST_FOR_TRUE( simpleStatus == 0 );
/* Get and print solution of second QP. */
real_t xOpt[5];
real_t yOpt[5+2];
example.getPrimalSolution( xOpt );
example.getDualSolution( yOpt );
printf( "\nxOpt = [ %e, %e, ... ]; objVal = %e\n\n", xOpt[0],xOpt[1],example.getObjVal() );
/* Compute KKT tolerances */
real_t stat, feas, cmpl;
SolutionAnalysis analyzer;
analyzer.getKktViolation( &example, &stat,&feas,&cmpl );
printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );
QPOASES_TEST_FOR_TOL( stat,1e-14 );
QPOASES_TEST_FOR_TOL( feas,1e-14 );
QPOASES_TEST_FOR_TOL( cmpl,1e-15 );
return TEST_PASSED;
}
