Esempio n. 1
0
g   = np.array([1.5, 1.0 ])
lb  = np.array([0.5, -2.0])
ub  = np.array([5.0, 2.0 ])

# Setup data of second QP.

g_new   = np.array([1.0, 1.5])
lb_new  = np.array([0.0, -1.0])
ub_new  = np.array([5.0, -0.5])


# Setting up QProblemB object.
example = QProblemB(2)

options = Options()
options.enableFlippingBounds = BooleanType.FALSE
options.initialStatusBounds  = SubjectToStatus.INACTIVE
options.numRefinementSteps   = 1

example.setOptions(options)

# Solve first QP.
nWSR = np.array([10])
example.init(H, g, lb, ub, nWSR)
print("\nnWSR = %d\n\n"%nWSR)

# Solve second QP.
nWSR = np.array([10])
example.hotstart(g_new, lb_new, ub_new, nWSR)
print("\nnWSR = %d\n\n"% nWSR)
    def test_example1b(self):
        # Example for qpOASES main function using the QProblemB class.
        #Setup data of first QP.

        H   = np.array([1.0, 0.0, 0.0, 0.5 ]).reshape((2,2))
        g   = np.array([1.5, 1.0 ])
        lb  = np.array([0.5, -2.0])
        ub  = np.array([5.0, 2.0 ])

        # Setup data of second QP.

        g_new   = np.array([1.0, 1.5])
        lb_new  = np.array([0.0, -1.0])
        ub_new  = np.array([5.0, -0.5])

        # Setting up QProblemB object.
        qp = QProblemB(2)

        options = Options()
        options.enableFlippingBounds = BooleanType.FALSE
        options.initialStatusBounds  = SubjectToStatus.INACTIVE
        options.numRefinementSteps   = 1
        options.printLevel = PrintLevel.NONE
        qp.setOptions(options)

        # Solve first QP.
        nWSR = 10
        qp.init(H, g, lb, ub, nWSR)

        # Solve second QP.
        nWSR = 10;
        qp.hotstart(g_new, lb_new, ub_new, nWSR)

        # Get and print solution of second QP.
        xOpt_actual = np.zeros(2)
        qp.getPrimalSolution(xOpt_actual)
        xOpt_actual = np.asarray(xOpt_actual, dtype=float)
        objVal_actual = qp.getObjVal()
        objVal_actual = np.asarray(objVal_actual, dtype=float)

        cmd = os.path.join(bin_path, "example1b")
        p = Popen(cmd, shell=True, stdout=PIPE)
        stdout, stderr = p.communicate()
        stdout = str(stdout).replace('\\n', '\n')
        stdout = stdout.replace("'", '')
        print(stdout)

        # get c++ solution from std
        pattern = re.compile(r'xOpt\s*=\s*\[\s+(?P<xOpt>([0-9., e+-])*)\];')
        match = pattern.search(stdout)
        xOpt_expected = match.group('xOpt')
        xOpt_expected = xOpt_expected.split(",")
        xOpt_expected = np.asarray(xOpt_expected, dtype=float)

        pattern = re.compile(r'objVal = (?P<objVal>[0-9-+e.]*)')
        match = pattern.search(stdout)
        objVal_expected = match.group('objVal')
        objVal_expected = np.asarray(objVal_expected, dtype=float)

        print("xOpt_actual =", xOpt_actual)
        print("xOpt_expected =", xOpt_expected)
        print("objVal_actual = ", objVal_actual)
        print("objVal_expected = ", objVal_expected)

        assert_almost_equal(xOpt_actual, xOpt_expected, decimal=7)
        assert_almost_equal(objVal_actual, objVal_expected, decimal=7)
Esempio n. 3
0
H = np.array([1.0, 0.0, 0.0, 0.5]).reshape((2, 2))
g = np.array([1.5, 1.0])
lb = np.array([0.5, -2.0])
ub = np.array([5.0, 2.0])

# Setup data of second QP.

g_new = np.array([1.0, 1.5])
lb_new = np.array([0.0, -1.0])
ub_new = np.array([5.0, -0.5])

# Setting up QProblemB object.
example = QProblemB(2)

options = Options()
options.enableFlippingBounds = BooleanType.FALSE
options.initialStatusBounds = SubjectToStatus.INACTIVE
options.numRefinementSteps = 1

example.setOptions(options)

# Solve first QP.
nWSR = 10
example.init(H, g, lb, ub, nWSR)
print("\nnWSR = %d\n\n" % nWSR)

# Solve second QP.
nWSR = 10
example.hotstart(g_new, lb_new, ub_new, nWSR)
print("\nnWSR = %d\n\n" % nWSR)