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/cpp/test_example1.cpp
27 * \author Hans Joachim Ferreau
28 * \version 3.2
29 * \date 2007-2017
30 *
31 * Very simple example for testing qpOASES (using QProblem class).
32 */
33
34
35
36 #include <qpOASES.hpp>
37 #include <qpOASES/UnitTesting.hpp>
38
39
40 /** Example for qpOASES main function using the QProblem class. */
main()41 int main( )
42 {
43 USING_NAMESPACE_QPOASES
44
45 /* Setup data of first QP. */
46 real_t H[2*2] = { 1.0, 0.0, 0.0, 0.5 };
47 real_t A[1*2] = { 1.0, 1.0 };
48 real_t g[2] = { 1.5, 1.0 };
49 real_t lb[2] = { 0.5, -2.0 };
50 real_t ub[2] = { 5.0, 2.0 };
51 real_t lbA[1] = { -1.0 };
52 real_t ubA[1] = { 2.0 };
53
54 /* Setup data of second QP. */
55 real_t g_new[2] = { 1.0, 1.5 };
56 real_t lb_new[2] = { 0.0, -1.0 };
57 real_t ub_new[2] = { 5.0, -0.5 };
58 real_t lbA_new[1] = { -2.0 };
59 real_t ubA_new[1] = { 1.0 };
60
61
62 /* Setting up QProblem object. */
63 QProblem example( 2,1 );
64
65 Options options;
66 example.setOptions( options );
67
68 /* Solve first QP. */
69 int_t nWSR = 10;
70 example.init( H,g,A,lb,ub,lbA,ubA, nWSR );
71
72 /* Get and print solution of second QP. */
73 real_t xOpt[2];
74 real_t yOpt[2+1];
75 example.getPrimalSolution( xOpt );
76 example.getDualSolution( yOpt );
77 printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e, %e ]; objVal = %e\n\n",
78 xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2],example.getObjVal() );
79
80 /* Compute KKT tolerances */
81 real_t stat, feas, cmpl;
82 SolutionAnalysis analyzer;
83
84 analyzer.getKktViolation( &example, &stat,&feas,&cmpl );
85 printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );
86
87 QPOASES_TEST_FOR_TOL( stat,1e-15 );
88 QPOASES_TEST_FOR_TOL( feas,1e-15 );
89 QPOASES_TEST_FOR_TOL( cmpl,1e-15 );
90
91
92 /* Solve second QP. */
93 nWSR = 10;
94 example.hotstart( g_new,lb_new,ub_new,lbA_new,ubA_new, nWSR );
95
96 /* Get and print solution of second QP. */
97 example.getPrimalSolution( xOpt );
98 example.getDualSolution( yOpt );
99 printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e, %e ]; objVal = %e\n\n",
100 xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2],example.getObjVal() );
101
102 /* Compute KKT tolerances */
103 analyzer.getKktViolation( &example, &stat,&feas,&cmpl );
104 printf( "stat = %e\nfeas = %e\ncmpl = %e\n", stat,feas,cmpl );
105
106 QPOASES_TEST_FOR_TOL( stat,1e-15 );
107 QPOASES_TEST_FOR_TOL( feas,1e-15 );
108 QPOASES_TEST_FOR_TOL( cmpl,1e-15 );
109
110 return TEST_PASSED;
111 }
112
113
114 /*
115 * end of file
116 */
117