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75 lines
1.9 KiB
75 lines
1.9 KiB
6 years ago
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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) 2007-2008 by Hans Joachim Ferreau 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. See the GNU
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* 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/example1.cpp
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* \author Hans Joachim Ferreau
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* \version 1.3embedded
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* \date 2007-2008
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*
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* Very simple example for testing qpOASES (using QProblem class).
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*/
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#include <QProblem.hpp>
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/** Example for qpOASES main function using the QProblem class. */
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int main( )
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{
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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 A[1*2] = { 1.0, 1.0 };
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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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real_t lbA[1] = { -1.0 };
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real_t ubA[1] = { 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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real_t lbA_new[1] = { -2.0 };
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real_t ubA_new[1] = { 1.0 };
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/* Setting up QProblem object. */
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QProblem example( 2,1 );
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/* Solve first QP. */
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int nWSR = 10;
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example.init( H,g,A,lb,ub,lbA,ubA, nWSR,0 );
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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,lbA_new,ubA_new, nWSR,0 );
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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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