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|
/*
* MIT No Attribution
*
* Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of this
* software and associated documentation files (the "Software"), to deal in the Software
* without restriction, including without limitation the rights to use, copy, modify,
* merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
* INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
*/
#include <casadi/casadi.hpp>
/** Solve a QP using the low-level (conic) interface
* The example below is QRECIPE from CUTE, borrowed from the qpOASES examples
* Joel Andersson, 2016
*/
using namespace casadi;
// Matrix H in sparse triplet format
const int H_nrow = 180;
const int H_ncol = 180;
const std::vector<casadi_int> H_colind = {
0, 4, 8, 12, 16, 20, 20, 20, 20, 20, 20,
24, 28, 32, 36, 40, 40, 40, 40, 40, 40,
44, 48, 52, 56, 60, 60, 60, 60, 60, 60, 60, 60, 60, 60,
64, 68, 72, 76, 80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80, 80, 80, 80, 80,
80, 80, 80, 80, 80, 80
};
const std::vector<casadi_int> H_row = {
0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38,
0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38,
0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38,
0, 10, 20, 34, 1, 11, 21, 35, 2, 12, 22, 36, 3, 13, 23, 37, 4, 14, 24, 38
};
const std::vector<double> H_nz = {
10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1,
1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 1,
10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 1, 10, 1,
1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10, 1, 1, 1, 10
};
// Matrix A in sparse triplet format
const int A_nrow = 91;
const int A_ncol = 180;
const std::vector<casadi_int> A_colind = {
0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120,
130, 140, 150, 160, 170, 180, 190, 200, 210, 220, 230, 240, 250, 260, 270,
280, 290, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 310, 311, 312,
313, 314, 318, 319, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 331,
333, 335, 337, 339, 341, 343, 345, 347, 349, 351, 353, 355, 357, 359, 361,
363, 365, 367, 369, 371, 373, 383, 393, 403, 405, 408, 410, 413, 415, 418,
420, 422, 424, 426, 428, 430, 432, 434, 436, 438, 440, 442, 444, 446, 448,
450, 452, 454, 456, 458, 460, 462, 472, 482, 492, 494, 497, 499, 502, 504,
507, 509, 511, 513, 515, 517, 519, 521, 523, 525, 527, 529, 531, 533, 535,
537, 539, 541, 543, 545, 547, 549, 551, 561, 571, 581, 583, 586, 588, 591,
593, 596, 597, 598, 599, 600, 601, 602, 603, 604, 605, 606, 607, 608, 609,
610, 611, 612, 613, 614, 615, 616, 617, 618, 628, 638, 648, 650, 653, 655,
658, 660, 663
};
const std::vector<casadi_int> A_row = {
0, 14, 35, 36, 71, 72, 85, 86, 87, 88, 1, 14, 35, 36, 71, 72, 85,
86, 87, 88, 2, 14, 35, 36, 71, 72, 85, 86, 87, 88, 3, 14, 35, 36, 71, 72,
85, 86, 87, 88, 4, 14, 35, 36, 71, 72, 85, 86, 87, 88, 5, 14, 35, 36, 71,
72, 85, 86, 87, 88, 6, 14, 35, 36, 71, 72, 85, 86, 87, 88, 7, 14, 35, 36,
71, 72, 85, 86, 87, 88, 8, 14, 35, 36, 71, 72, 85, 86, 87, 88, 9, 14, 35,
36, 71, 72, 85, 86, 87, 88, 0, 15, 37, 38, 69, 70, 79, 80, 81, 82, 1, 15,
37, 38, 69, 70, 79, 80, 81, 82, 2, 15, 37, 38, 69, 70, 79, 80, 81, 82, 3,
15, 37, 38, 69, 70, 79, 80, 81, 82, 4, 15, 37, 38, 69, 70, 79, 80, 81, 82,
5, 15, 37, 38, 69, 70, 79, 80, 81, 82, 6, 15, 37, 38, 69, 70, 79, 80, 81,
82, 7, 15, 37, 38, 69, 70, 79, 80, 81, 82, 8, 15, 37, 38, 69, 70, 79, 80,
81, 82, 9, 15, 37, 38, 69, 70, 79, 80, 81, 82, 0, 16, 39, 40, 67, 68, 73,
74, 75, 76, 1, 16, 39, 40, 67, 68, 73, 74, 75, 76, 2, 16, 39, 40, 67, 68,
73, 74, 75, 76, 3, 16, 39, 40, 67, 68, 73, 74, 75, 76, 4, 16, 39, 40, 67,
68, 73, 74, 75, 76, 5, 16, 39, 40, 67, 68, 73, 74, 75, 76, 6, 16, 39, 40,
67, 68, 73, 74, 75, 76, 7, 16, 39, 40, 67, 68, 73, 74, 75, 76, 8, 16, 39,
40, 67, 68, 73, 74, 75, 76, 9, 16, 39, 40, 67, 68, 73, 74, 75, 76, 10, 11,
12, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 47, 48, 49, 50, 51,
52, 53, 54, 55, 56, 57, 47, 58, 48, 59, 49, 60, 50, 61, 51, 62, 52, 63, 53,
64, 54, 65, 55, 66, 46, 56, 45, 57, 47, 58, 48, 59, 49, 60, 50, 61, 51, 62,
52, 63, 53, 64, 54, 65, 55, 66, 46, 56, 45, 57, 10, 14, 71, 72, 85, 86, 87,
88, 89, 90, 11, 15, 69, 70, 79, 80, 81, 82, 83, 84, 12, 16, 67, 68, 73, 74,
75, 76, 77, 78, 35, 90, 36, 89, 90, 37, 84, 38, 83, 84, 39, 78, 40, 77, 78,
44, 58, 43, 59, 42, 60, 41, 61, 34, 62, 33, 63, 32, 64, 31, 65, 30, 66, 29,
46, 28, 45, 44, 58, 43, 59, 42, 60, 41, 61, 34, 62, 33, 63, 32, 64, 31, 65,
30, 66, 29, 46, 28, 45, 10, 14, 71, 72, 85, 86, 87, 88, 89, 90, 11, 15, 69,
70, 79, 80, 81, 82, 83, 84, 12, 16, 67, 68, 73, 74, 75, 76, 77, 78, 35, 90,
36, 89, 90, 37, 84, 38, 83, 84, 39, 78, 40, 77, 78, 27, 44, 26, 43, 25, 42,
24, 41, 23, 34, 22, 33, 21, 32, 20, 31, 19, 30, 18, 29, 17, 28, 27, 44, 26,
43, 25, 42, 24, 41, 23, 34, 22, 33, 21, 32, 20, 31, 19, 30, 18, 29, 17, 28,
10, 14, 71, 72, 85, 86, 87, 88, 89, 90, 11, 15, 69, 70, 79, 80, 81, 82, 83,
84, 12, 16, 67, 68, 73, 74, 75, 76, 77, 78, 35, 90, 36, 89, 90, 37, 84, 38,
83, 84, 39, 78, 40, 77, 78, 27, 26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 27,
26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 10, 14, 71, 72, 85, 86, 87, 88, 89,
90, 11, 15, 69, 70, 79, 80, 81, 82, 83, 84, 12, 16, 67, 68, 73, 74, 75, 76,
77, 78, 35, 90, 36, 89, 90, 37, 84, 38, 83, 84, 39, 78, 40, 77, 78
};
const std::vector<double> A_nz = {
-1.0000000000000000e+00, 1.0000000000000000e+00, 8.8678200000000004e+01,
9.3617050000000006e+01, 1.6000000000000000e+01, 8.1999999999999993e+00,
9.9000000000000000e+01, 8.0000000000000000e+01, 1.2000000000000000e+01,
9.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
8.0062830000000005e+01, 9.9224010000000007e+01, 1.0000000000000000e+02,
2.1100000000000001e+01, 1.0000000000000000e+02, 1.0000000000000000e+02,
1.1400000000000000e+02, 1.1680000000000000e+02, -1.0000000000000000e+00,
1.0000000000000000e+00, 7.4697360000000003e+01, 8.3801220000000001e+01,
-8.1999999999999993e+00, 2.0000000000000000e+00, 9.0000000000000000e+01,
2.3999999999999999e+00, -1.2000000000000000e+01, -1.4800000000000001e+01,
-1.0000000000000000e+00, 1.0000000000000000e+00, 7.9194209999999998e+01,
9.0175110000000004e+01, 4.3000000000000000e+01, 8.0000000000000000e+00,
1.0000000000000000e+02, 9.5000000000000000e+01, 9.0000000000000000e+00,
2.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
7.8568219999999997e+01, 8.5996200000000002e+01, -1.2500000000000000e+01,
1.0000000000000000e+00, 9.6500000000000000e+01, 4.0000000000000000e+00,
-1.8000000000000000e+01, -2.1899999999999999e+01, -1.0000000000000000e+00,
1.0000000000000000e+00, 8.2922240000000002e+01, 8.6963380000000001e+01,
6.5000000000000000e+01, 1.2500000000000000e+01, 1.0000000000000000e+02,
9.8000000000000000e+01, 4.9000000000000000e+01, 3.7000000000000000e+01,
-1.0000000000000000e+00, 1.0000000000000000e+00, 8.2592740000000006e+01,
9.3147599999999997e+01, -1.2000000000000000e+01, 1.0000000000000000e+00,
9.6500000000000000e+01, 4.0000000000000000e+00, -1.8000000000000000e+01,
-2.1899999999999999e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
7.6506460000000004e+01, 7.8210250000000002e+01, 7.9000000000000000e+01,
1.2000000000000000e+01, 1.0000000000000000e+02, 9.5000000000000000e+01,
6.8000000000000000e+01, 6.1000000000000000e+01, -1.0000000000000000e+00,
1.0000000000000000e+00, 8.8357460000000003e+01, 9.4257840000000002e+01,
1.2500000000000000e+02, 6.1299999999999997e+01, 1.0000000000000000e+02,
1.0000000000000000e+02, 1.4500000000000000e+02, 1.4500000000000000e+02,
-1.0000000000000000e+00, 1.0000000000000000e+00, 9.0590469999999996e+01,
1.0582863000000000e+02, 6.2000000000000002e+00, 6.0000000000000000e+00,
9.7000000000000000e+01, 2.8500000000000000e+01, 4.0000000000000000e+00,
3.6000000000000001e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
8.8678200000000004e+01, 9.3617050000000006e+01, 1.6000000000000000e+01,
8.1999999999999993e+00, 9.9000000000000000e+01, 8.0000000000000000e+01,
1.2000000000000000e+01, 9.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, 8.0062830000000005e+01, 9.9224010000000007e+01,
1.0000000000000000e+02, 2.1100000000000001e+01, 1.0000000000000000e+02,
1.0000000000000000e+02, 1.1400000000000000e+02, 1.1680000000000000e+02,
-1.0000000000000000e+00, 1.0000000000000000e+00, 7.4697360000000003e+01,
8.3801220000000001e+01, -8.1999999999999993e+00, 2.0000000000000000e+00,
9.0000000000000000e+01, 2.3999999999999999e+00, -1.2000000000000000e+01,
-1.4800000000000001e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
7.9194209999999998e+01, 9.0175110000000004e+01, 4.3000000000000000e+01,
8.0000000000000000e+00, 1.0000000000000000e+02, 9.5000000000000000e+01,
9.0000000000000000e+00, 2.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, 7.8568219999999997e+01, 8.5996200000000002e+01,
-1.2500000000000000e+01, 1.0000000000000000e+00, 9.6500000000000000e+01,
4.0000000000000000e+00, -1.8000000000000000e+01, -2.1899999999999999e+01,
-1.0000000000000000e+00, 1.0000000000000000e+00, 8.2922240000000002e+01,
8.6963380000000001e+01, 6.5000000000000000e+01, 1.2500000000000000e+01,
1.0000000000000000e+02, 9.8000000000000000e+01, 4.9000000000000000e+01,
3.7000000000000000e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
8.2592740000000006e+01, 9.3147599999999997e+01, -1.2000000000000000e+01,
1.0000000000000000e+00, 9.6500000000000000e+01, 4.0000000000000000e+00,
-1.8000000000000000e+01, -2.1899999999999999e+01, -1.0000000000000000e+00,
1.0000000000000000e+00, 7.6506460000000004e+01, 7.8210250000000002e+01,
7.9000000000000000e+01, 1.2000000000000000e+01, 1.0000000000000000e+02,
9.5000000000000000e+01, 6.8000000000000000e+01, 6.1000000000000000e+01,
-1.0000000000000000e+00, 1.0000000000000000e+00, 8.8357460000000003e+01,
9.4257840000000002e+01, 1.2500000000000000e+02, 6.1299999999999997e+01,
1.0000000000000000e+02, 1.0000000000000000e+02, 1.4500000000000000e+02,
1.4500000000000000e+02, -1.0000000000000000e+00, 1.0000000000000000e+00,
9.0590469999999996e+01, 1.0582863000000000e+02, 6.2000000000000002e+00,
6.0000000000000000e+00, 9.7000000000000000e+01, 2.8500000000000000e+01,
4.0000000000000000e+00, 3.6000000000000001e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, 8.8678200000000004e+01, 9.3617050000000006e+01,
1.6000000000000000e+01, 8.1999999999999993e+00, 9.9000000000000000e+01,
8.0000000000000000e+01, 1.2000000000000000e+01, 9.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, 8.0062830000000005e+01,
9.9224010000000007e+01, 1.0000000000000000e+02, 2.1100000000000001e+01,
1.0000000000000000e+02, 1.0000000000000000e+02, 1.1400000000000000e+02,
1.1680000000000000e+02, -1.0000000000000000e+00, 1.0000000000000000e+00,
7.4697360000000003e+01, 8.3801220000000001e+01, -8.1999999999999993e+00,
2.0000000000000000e+00, 9.0000000000000000e+01, 2.3999999999999999e+00,
-1.2000000000000000e+01, -1.4800000000000001e+01, -1.0000000000000000e+00,
1.0000000000000000e+00, 7.9194209999999998e+01, 9.0175110000000004e+01,
4.3000000000000000e+01, 8.0000000000000000e+00, 1.0000000000000000e+02,
9.5000000000000000e+01, 9.0000000000000000e+00, 2.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, 7.8568219999999997e+01,
8.5996200000000002e+01, -1.2500000000000000e+01, 1.0000000000000000e+00,
9.6500000000000000e+01, 4.0000000000000000e+00, -1.8000000000000000e+01,
-2.1899999999999999e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
8.2922240000000002e+01, 8.6963380000000001e+01, 6.5000000000000000e+01,
1.2500000000000000e+01, 1.0000000000000000e+02, 9.8000000000000000e+01,
4.9000000000000000e+01, 3.7000000000000000e+01, -1.0000000000000000e+00,
1.0000000000000000e+00, 8.2592740000000006e+01, 9.3147599999999997e+01,
-1.2000000000000000e+01, 1.0000000000000000e+00, 9.6500000000000000e+01,
4.0000000000000000e+00, -1.8000000000000000e+01, -2.1899999999999999e+01,
-1.0000000000000000e+00, 1.0000000000000000e+00, 7.6506460000000004e+01,
7.8210250000000002e+01, 7.9000000000000000e+01, 1.2000000000000000e+01,
1.0000000000000000e+02, 9.5000000000000000e+01, 6.8000000000000000e+01,
6.1000000000000000e+01, -1.0000000000000000e+00, 1.0000000000000000e+00,
8.8357460000000003e+01, 9.4257840000000002e+01, 1.2500000000000000e+02,
6.1299999999999997e+01, 1.0000000000000000e+02, 1.0000000000000000e+02,
1.4500000000000000e+02, 1.4500000000000000e+02, -1.0000000000000000e+00,
1.0000000000000000e+00, 9.0590469999999996e+01, 1.0582863000000000e+02,
6.2000000000000002e+00, 6.0000000000000000e+00, 9.7000000000000000e+01,
2.8500000000000000e+01, 4.0000000000000000e+00, 3.6000000000000001e+00,
-1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
1.0000000000000000e+00, 1.0000000000000000e+00, -1.2000000000000000e-01,
-3.8000000000000000e-01, -5.0000000000000000e-01, 1.0000000000000000e+00,
1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
-4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
-5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
-9.3000000000000000e+01, -8.9000000000000000e+01, 1.0000000000000000e+00,
-1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
-9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
-1.0000000000000000e+01, -8.9000000000000000e+01, -8.5000000000000000e+01,
1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
-8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
-1.0000000000000000e+01, -1.0000000000000000e+01, -9.1000000000000000e+01,
-8.8000000000000000e+01, -1.0000000000000000e+00, 5.0000000000000000e-01,
-1.0000000000000000e+00, 1.0000000000000000e+00, 5.0000000000000000e-01,
-1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
5.0000000000000000e-01, -1.0000000000000000e+00, 1.0000000000000000e+00,
5.0000000000000000e-01, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
-8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
-1.0000000000000000e+01, -1.0000000000000000e+01, -9.3000000000000000e+01,
-8.9000000000000000e+01, 1.0000000000000000e+00, -1.0000000000000000e+00,
-4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
-5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
-8.9000000000000000e+01, -8.5000000000000000e+01, 1.0000000000000000e+00,
-1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
-9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
-1.0000000000000000e+01, -9.1000000000000000e+01, -8.8000000000000000e+01,
-1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
5.0000000000000000e-01, -1.0000000000000000e+00, 1.0000000000000000e+00,
5.0000000000000000e-01, -1.0000000000000000e+00, 5.0000000000000000e-01,
-1.0000000000000000e+00, 1.0000000000000000e+00, 5.0000000000000000e-01,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, 1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, 1.0000000000000000e+00,
-1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
-9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
-1.0000000000000000e+01, -9.3000000000000000e+01, -8.9000000000000000e+01,
1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
-8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
-1.0000000000000000e+01, -1.0000000000000000e+01, -8.9000000000000000e+01,
-8.5000000000000000e+01, 1.0000000000000000e+00, -1.0000000000000000e+00,
-4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
-5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
-9.1000000000000000e+01, -8.8000000000000000e+01, -1.0000000000000000e+00,
5.0000000000000000e-01, -1.0000000000000000e+00, 1.0000000000000000e+00,
5.0000000000000000e-01, -1.0000000000000000e+00, 5.0000000000000000e-01,
-1.0000000000000000e+00, 1.0000000000000000e+00, 5.0000000000000000e-01,
-1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
-1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
-1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
-1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
-1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
-1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
-1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
-1.0000000000000000e+00, -1.0000000000000000e+00, -1.0000000000000000e+00,
1.0000000000000000e+00, -1.0000000000000000e+00, -4.7000000000000000e+01,
-8.6999999999999993e+00, -9.0000000000000000e+01, -5.0000000000000000e+01,
-1.0000000000000000e+01, -1.0000000000000000e+01, -9.3000000000000000e+01,
-8.9000000000000000e+01, 1.0000000000000000e+00, -1.0000000000000000e+00,
-4.7000000000000000e+01, -8.6999999999999993e+00, -9.0000000000000000e+01,
-5.0000000000000000e+01, -1.0000000000000000e+01, -1.0000000000000000e+01,
-8.9000000000000000e+01, -8.5000000000000000e+01, 1.0000000000000000e+00,
-1.0000000000000000e+00, -4.7000000000000000e+01, -8.6999999999999993e+00,
-9.0000000000000000e+01, -5.0000000000000000e+01, -1.0000000000000000e+01,
-1.0000000000000000e+01, -9.1000000000000000e+01, -8.8000000000000000e+01,
-1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
1.0000000000000000e+00, 5.0000000000000000e-01, -1.0000000000000000e+00,
5.0000000000000000e-01, -1.0000000000000000e+00, 1.0000000000000000e+00,
5.0000000000000000e-01, -1.0000000000000000e+00, 5.0000000000000000e-01,
-1.0000000000000000e+00, 1.0000000000000000e+00, 5.0000000000000000e-01
};
const std::vector<double> g = {
+0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
+0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
+0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
+0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
+0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
+0e+00, +0e+00, -2e+00, -2e+00, -2e+00, -2e+00, -2e+00, -2e+00, -2e+00,
-2e+00, +0e+00, -2e+00, +0e+00, +2e-03, +2e-03, +2e-03, +2e-03, +2e-03,
+2e-03, +1e-03, +2e-03, +2e-03, +2e-03, +0e+00, -2e-03, -2e-03, -2e-03,
-2e-03, -2e-03, -2e-03, -1e-03, -2e-03, -2e-03, -2e-03, +0e+00, +0e+00,
+0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +2e-03,
+2e-03, +2e-03, +2e-03, +2e-03, +2e-03, +1e-03, +2e-03, +2e-03, +2e-03,
+0e+00, -2e-03, -2e-03, -2e-03, -2e-03, -2e-03, -2e-03, -1e-03, -2e-03,
-2e-03, -2e-03, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
+0e+00, +0e+00, +0e+00, +2e-03, +2e-03, +2e-03, +2e-03, +2e-03, +2e-03,
+1e-03, +2e-03, +2e-03, +2e-03, +0e+00, -2e-03, -2e-03, -2e-03, -2e-03,
-2e-03, -2e-03, -1e-03, -2e-03, -2e-03, -2e-03, +0e+00, +0e+00, +0e+00,
+0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +1e-01, +1e-01,
+1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +1e-01, +0e+00,
-1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01, -1e-01,
-1e-01, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00, +0e+00,
+0e+00
};
const std::vector<double> lbx = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, -inf, 0, -inf, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 5,
10, 5, 0, 10, 0, 2, 0, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 10, 5, 10, 5, 0, 10, 0, 5, 0, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 5, 10, 5, 0, 10, 0, 5, 0, 10, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
const std::vector<double> ubx = {
inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf,
inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf,
inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf,
inf, inf, 0, 92, 39, 87, 29, 0, 20, 0, 28, 20, 71, inf, 130, 45, 53, 55, 75,
112, 0, 73, 480, 154, 121, 50, 30, 77, 20, 0, 18, 0, 5, 20, 71, inf, inf,
inf, inf, inf, inf, inf, inf, inf, inf, 130, 55, 93, 60, 75, 115, 0, 67,
480, 154, 121, 50, 20, 37, 15, 0, 15, 0, 8, 20, 71, inf, inf, inf, inf, inf,
inf, inf, inf, inf, inf, 130, 55, 93, 60, 75, 105, 0, 67, 4980, 154, 110,
50, 20, 37, 15, 0, 25, 0, 8, 20, 71, inf, inf, inf, inf, inf, inf, inf, inf,
inf, inf, 20, 20, 20, 20, 0, 20, 0, 20, 0, 20, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, inf, inf, inf, inf, inf, inf, inf, inf, inf
};
const std::vector<double> lba = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -inf, -inf,
-inf, -inf, -inf, -inf, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0
};
const std::vector<double> uba = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf,
inf, inf, inf, inf
};
int main(){
// Create QP matrices
DM H(Sparsity(H_nrow, H_ncol, H_colind, H_row), H_nz);
DM A(Sparsity(A_nrow, A_ncol, A_colind, A_row), A_nz);
// Create conic solver
SpDict qp = {{"h", H.sparsity()}, {"a", A.sparsity()}};
Function F = conic("F", "qpoases", qp, {{"sparse", true}, {"schur", false}, {"max_schur", 20}, {"hessian_type", "posdef"}});
//Function F = conic("F", "cplex", qp);
//Function F = conic("F", "ooqp", qp);
//Function F = conic("F", "gurobi", qp);
// Get the optimal solution
DMDict arg = {{"h", H}, {"a", A}, {"g", g},
{"lbx", lbx}, {"ubx", ubx},
{"lba", lba}, {"uba", uba}};
DMDict res = F(arg);
std::cout << "res = " << res << std::endl;
return 0;
}
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