1 /*
2 * This file is part of qpOASES.
3 *
4 * qpOASES -- An Implementation of the Online Active Set Strategy.
5 * Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
6 * Christian Kirches et al. All rights reserved.
7 *
8 * qpOASES is free software; you can redistribute it and/or
9 * modify it under the terms of the GNU Lesser General Public
10 * License as published by the Free Software Foundation; either
11 * version 2.1 of the License, or (at your option) any later version.
12 *
13 * qpOASES is distributed in the hope that it will be useful,
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
16 * See the GNU Lesser General Public License for more details.
17 *
18 * You should have received a copy of the GNU Lesser General Public
19 * License along with qpOASES; if not, write to the Free Software
20 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
21 *
22 */
23
24
25 /**
26 * \file testing/c/test_c_example1a.c
27 * \author Hans Joachim Ferreau
28 * \version 3.2
29 * \date 2014-2017
30 *
31 * Very simple example for testing qpOASES (using SQProblem class through C interface).
32 */
33
34 #include <stdio.h>
35
36 #include <qpOASES_wrapper.h>
37
38
39 /** Example for qpOASES main function using the QProblem class. */
main()40 int main( )
41 {
42 /* Setup data of first QP. */
43 real_t H[2*2] = { 1.0, 0.0, 0.0, 0.5 };
44 real_t A[1*2] = { 1.0, 1.0 };
45 real_t g[2] = { 1.5, 1.0 };
46 real_t lb[2] = { 0.5, -2.0 };
47 real_t ub[2] = { 5.0, 2.0 };
48 real_t lbA[1] = { -1.0 };
49 real_t ubA[1] = { 2.0 };
50
51 /* Setup data of second QP. */
52 real_t H_new[2*2] = { 1.0, 0.5, 0.5, 0.5 };
53 real_t A_new[1*2] = { 1.0, 5.0 };
54 real_t g_new[2] = { 1.0, 1.5 };
55 real_t lb_new[2] = { 0.0, -1.0 };
56 real_t ub_new[2] = { 5.0, -0.5 };
57 real_t lbA_new[1] = { -2.0 };
58 real_t ubA_new[1] = { 1.0 };
59
60 int_t nWSR;
61
62 real_t xOpt[2];
63 real_t yOpt[2+1];
64 real_t obj;
65 int_t status;
66
67 qpOASES_Options options;
68 qpOASES_Options_init( &options,0 );
69
70
71 SQProblem_setup( 2,1,HST_UNKNOWN );
72
73 /* Solve first QP. */
74 nWSR = 10;
75 SQProblem_init( H,g,A,lb,ub,lbA,ubA,
76 &nWSR,0,&options,
77 xOpt,yOpt,&obj,&status
78 );
79
80 /* Print solution of first QP. */
81 printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e, %e ]; objVal = %e\n\n",
82 xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2], obj );
83
84
85 /* Solve second QP. */
86 nWSR = 10;
87 SQProblem_hotstart( H_new,g_new,A_new,lb_new,ub_new,lbA_new,ubA_new,
88 &nWSR,0,
89 xOpt,yOpt,&obj,&status
90 );
91
92 /* Print solution of first QP. */
93 printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e, %e ]; objVal = %e\n\n",
94 xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2], obj );
95
96
97 SQProblem_cleanup();
98
99 return 0;
100 }
101
102
103 /*
104 * end of file
105 */
106