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example1.cpp
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example1.cpp
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/*
* This file is part of qpOASES.
*
* qpOASES -- An Implementation of the Online Active Set Strategy.
* Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
* Christian Kirches et al. All rights reserved.
*
* qpOASES is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* qpOASES is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with qpOASES; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*
*/
/**
* \file examples/example1.cpp
* \author Hans Joachim Ferreau
* \version 3.2
* \date 2007-2017
*
* Very simple example for testing qpOASES using the QProblem class.
*/
#include <qpOASES.hpp>
/** 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. */
QProblem example( 2,1 );
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 first QP. */
real_t xOpt[2];
real_t yOpt[2+1];
example.getPrimalSolution( xOpt );
example.getDualSolution( yOpt );
printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e, %e ]; objVal = %e\n\n",
xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2],example.getObjVal() );
/* Solve second QP. */
nWSR = 10;
example.hotstart( g_new,lb_new,ub_new,lbA_new,ubA_new, nWSR );
/* Get and print solution of second QP. */
example.getPrimalSolution( xOpt );
example.getDualSolution( yOpt );
printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e, %e ]; objVal = %e\n\n",
xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2],example.getObjVal() );
example.printOptions();
/*example.printProperties();*/
/*getGlobalMessageHandler()->listAllMessages();*/
return 0;
}
/*
* end of file
*/