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_example1.c
27 * \author Hans Joachim Ferreau
28 * \version 3.2
29 * \date 2014-2017
30 *
31 * Very simple example for testing qpOASES (using QProblem 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 g_new[2] = { 1.0, 1.5 };
53 real_t lb_new[2] = { 0.0, -1.0 };
54 real_t ub_new[2] = { 5.0, -0.5 };
55 real_t lbA_new[1] = { -2.0 };
56 real_t ubA_new[1] = { 1.0 };
57
58 int_t nWSR;
59 qpOASES_Options options;
60
61 real_t xOpt[2];
62 real_t yOpt[2+1];
63 real_t obj;
64 int_t status;
65
66 qpOASES_Options_init( &options,0 );
67 options.printLevel = PL_MEDIUM;
68
69
70 QProblem_setup( 2,1,HST_UNKNOWN );
71
72 /* Solve first QP. */
73 nWSR = 10;
74 QProblem_init( H,g,A,lb,ub,lbA,ubA,
75 &nWSR,0,&options,
76 xOpt,yOpt,&obj,&status
77 );
78
79 /* Print solution of first QP. */
80 printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e, %e ]; objVal = %e\n\n",
81 xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2], obj );
82
83
84 /* Solve second QP. */
85 nWSR = 10;
86 QProblem_hotstart( g_new,lb_new,ub_new,lbA_new,ubA_new,
87 &nWSR,0,
88 xOpt,yOpt,&obj,&status
89 );
90
91 /* Print solution of first QP. */
92 printf( "\nxOpt = [ %e, %e ]; yOpt = [ %e, %e, %e ]; objVal = %e\n\n",
93 xOpt[0],xOpt[1],yOpt[0],yOpt[1],yOpt[2], obj );
94
95
96 QProblem_cleanup();
97
98 return 0;
99 }
100
101
102 /*
103 * end of file
104 */
105