demo.cpp

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/**
    @file
    @author  Alexander Sherikov
 
    @copyright 2019 Alexander Sherikov. Licensed under the Apache License,
    Version 2.0. (see LICENSE or http://www.apache.org/licenses/LICENSE-2.0)
 
    @brief
*/
 
#include <iostream>
 
#include <qpmad/solver.h>
 
 
int main()
{
    Eigen::VectorXd x;
    Eigen::MatrixXd H;
    Eigen::VectorXd h;
    Eigen::MatrixXd A;
    Eigen::VectorXd Alb;
    Eigen::VectorXd Aub;
    Eigen::VectorXd lb;
    Eigen::VectorXd ub;
 
 
    qpmad::MatrixIndex size = 20;
    qpmad::MatrixIndex num_ctr = 1;
 
    H.setIdentity(size, size);
    h.setOnes(size);
 
 
    A.resize(num_ctr, size);
    A.setOnes();
    Alb.resize(num_ctr);
    Aub.resize(num_ctr);
    Alb << -1.5;
    Aub << 1.5;
 
    lb.resize(size);
    ub.resize(size);
    lb << 1, 2, 3, 4, -5, -5, -5, -5, -5, -5, -5, -5, -5, -5, -5, -5, -5, -5, -5, -5;
    ub << 1, 2, 3, 4, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5;
 
 
    qpmad::Solver solver;
 
    qpmad::Solver::ReturnStatus status = solver.solve(x, H, h, lb, ub, A, Alb, Aub);
    if (status != qpmad::Solver::OK)
    {
        std::cerr << "Error" << std::endl;
    }
 
    return (0);
}