91 lines
2.4 KiB
C++
91 lines
2.4 KiB
C++
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/*
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* This file is part of qpOASES.
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*
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* qpOASES -- An Implementation of the Online Active Set Strategy.
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* Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
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* Christian Kirches et al. All rights reserved.
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*
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* qpOASES is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* qpOASES is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with qpOASES; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file examples/example1b.cpp
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* \author Hans Joachim Ferreau
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* \version 3.2
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* \date 2007-2017
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*
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* Very simple example for testing qpOASES using the QProblemB class.
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*/
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#include <qpOASES.hpp>
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/** Example for qpOASES main function using the QProblemB class. */
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int main( )
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{
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USING_NAMESPACE_QPOASES
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/* Setup data of first QP. */
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real_t H[2*2] = { 1.0, 0.0, 0.0, 0.5 };
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real_t g[2] = { 1.5, 1.0 };
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real_t lb[2] = { 0.5, -2.0 };
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real_t ub[2] = { 5.0, 2.0 };
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/* Setup data of second QP. */
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real_t g_new[2] = { 1.0, 1.5 };
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real_t lb_new[2] = { 0.0, -1.0 };
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real_t ub_new[2] = { 5.0, -0.5 };
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/* Setting up QProblemB object. */
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QProblemB example( 2 );
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Options options;
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//options.enableFlippingBounds = BT_FALSE;
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options.initialStatusBounds = ST_INACTIVE;
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options.numRefinementSteps = 1;
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options.enableCholeskyRefactorisation = 1;
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example.setOptions( options );
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/* Solve first QP. */
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int_t nWSR = 10;
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example.init( H,g,lb,ub, nWSR,0 );
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/* Get and print solution of first QP. */
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real_t xOpt[2];
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example.getPrimalSolution( xOpt );
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printf( "\nxOpt = [ %e, %e ]; objVal = %e\n\n", xOpt[0],xOpt[1],example.getObjVal() );
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/* Solve second QP. */
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nWSR = 10;
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example.hotstart( g_new,lb_new,ub_new, nWSR,0 );
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// printf( "\nnWSR = %d\n\n", nWSR );
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/* Get and print solution of second QP. */
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example.getPrimalSolution( xOpt );
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printf( "\nxOpt = [ %e, %e ]; objVal = %e\n\n", xOpt[0],xOpt[1],example.getObjVal() );
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return 0;
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}
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/*
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* end of file
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*/
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