qpOASES 3.2.2
An Implementation of the Online Active Set Strategy
trivial_qp_data.hpp
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
32
33
34USING_NAMESPACE_QPOASES
35
36#define NV 100
37#define NC 10
38
39const real_t Inf = INFTY;
40
41sparse_int_t H_ri[] = {
42
43 0,
44 1,
45 2,
46 3,
47 4,
48 5,
49 6,
50 7,
51 8,
52 9,
53 10,
54 11,
55 12,
56 13,
57 14,
58 15,
59 16,
60 17,
61 18,
62 19,
63 20,
64 21,
65 22,
66 23,
67 24,
68 25,
69 26,
70 27,
71 28,
72 29,
73 30,
74 31,
75 32,
76 33,
77 34,
78 35,
79 36,
80 37,
81 38,
82 39,
83 40,
84 41,
85 42,
86 43,
87 44,
88 45,
89 46,
90 47,
91 48,
92 49,
93 50,
94 51,
95 52,
96 53,
97 54,
98 55,
99 56,
100 57,
101 58,
102 59,
103 60,
104 61,
105 62,
106 63,
107 64,
108 65,
109 66,
110 67,
111 68,
112 69,
113 70,
114 71,
115 72,
116 73,
117 74,
118 75,
119 76,
120 77,
121 78,
122 79,
123 80,
124 81,
125 82,
126 83,
127 84,
128 85,
129 86,
130 87,
131 88,
132 89,
133 90,
134 91,
135 92,
136 93,
137 94,
138 95,
139 96,
140 97,
141 98,
142 99,
143};
144
145sparse_int_t H_cp[] = {
146
147 0,
148 1,
149 2,
150 3,
151 4,
152 5,
153 6,
154 7,
155 8,
156 9,
157 10,
158 11,
159 12,
160 13,
161 14,
162 15,
163 16,
164 17,
165 18,
166 19,
167 20,
168 21,
169 22,
170 23,
171 24,
172 25,
173 26,
174 27,
175 28,
176 29,
177 30,
178 31,
179 32,
180 33,
181 34,
182 35,
183 36,
184 37,
185 38,
186 39,
187 40,
188 41,
189 42,
190 43,
191 44,
192 45,
193 46,
194 47,
195 48,
196 49,
197 50,
198 51,
199 52,
200 53,
201 54,
202 55,
203 56,
204 57,
205 58,
206 59,
207 60,
208 61,
209 62,
210 63,
211 64,
212 65,
213 66,
214 67,
215 68,
216 69,
217 70,
218 71,
219 72,
220 73,
221 74,
222 75,
223 76,
224 77,
225 78,
226 79,
227 80,
228 81,
229 82,
230 83,
231 84,
232 85,
233 86,
234 87,
235 88,
236 89,
237 90,
238 91,
239 92,
240 93,
241 94,
242 95,
243 96,
244 97,
245 98,
246 99,
247 100,
248};
249
250real_t H_val[] = {
251
252 1.0,
253 1.0,
254 1.0,
255 1.0,
256 1.0,
257 1.0,
258 1.0,
259 1.0,
260 1.0,
261 1.0,
262 1.0,
263 1.0,
264 1.0,
265 1.0,
266 1.0,
267 1.0,
268 1.0,
269 1.0,
270 1.0,
271 1.0,
272 1.0,
273 1.0,
274 1.0,
275 1.0,
276 1.0,
277 1.0,
278 1.0,
279 1.0,
280 1.0,
281 1.0,
282 1.0,
283 1.0,
284 1.0,
285 1.0,
286 1.0,
287 1.0,
288 1.0,
289 1.0,
290 1.0,
291 1.0,
292 1.0,
293 1.0,
294 1.0,
295 1.0,
296 1.0,
297 1.0,
298 1.0,
299 1.0,
300 1.0,
301 1.0,
302 1.0,
303 1.0,
304 1.0,
305 1.0,
306 1.0,
307 1.0,
308 1.0,
309 1.0,
310 1.0,
311 1.0,
312 1.0,
313 1.0,
314 1.0,
315 1.0,
316 1.0,
317 1.0,
318 1.0,
319 1.0,
320 1.0,
321 1.0,
322 1.0,
323 1.0,
324 1.0,
325 1.0,
326 1.0,
327 1.0,
328 1.0,
329 1.0,
330 1.0,
331 1.0,
332 1.0,
333 1.0,
334 1.0,
335 1.0,
336 1.0,
337 1.0,
338 1.0,
339 1.0,
340 1.0,
341 1.0,
342 1.0,
343 1.0,
344 1.0,
345 1.0,
346 1.0,
347 1.0,
348 1.0,
349 1.0,
350 1.0,
351 1.0,
352};
353
354sparse_int_t A_ri[] = {
355
356 0,
357 1,
358 2,
359 3,
360 4,
361 5,
362 6,
363 7,
364 8,
365 9,
366};
367
368sparse_int_t A_cp[] = {
369
370 0,
371 1,
372 2,
373 3,
374 4,
375 5,
376 6,
377 7,
378 8,
379 9,
380 10,
381 10,
382 10,
383 10,
384 10,
385 10,
386 10,
387 10,
388 10,
389 10,
390 10,
391 10,
392 10,
393 10,
394 10,
395 10,
396 10,
397 10,
398 10,
399 10,
400 10,
401 10,
402 10,
403 10,
404 10,
405 10,
406 10,
407 10,
408 10,
409 10,
410 10,
411 10,
412 10,
413 10,
414 10,
415 10,
416 10,
417 10,
418 10,
419 10,
420 10,
421 10,
422 10,
423 10,
424 10,
425 10,
426 10,
427 10,
428 10,
429 10,
430 10,
431 10,
432 10,
433 10,
434 10,
435 10,
436 10,
437 10,
438 10,
439 10,
440 10,
441 10,
442 10,
443 10,
444 10,
445 10,
446 10,
447 10,
448 10,
449 10,
450 10,
451 10,
452 10,
453 10,
454 10,
455 10,
456 10,
457 10,
458 10,
459 10,
460 10,
461 10,
462 10,
463 10,
464 10,
465 10,
466 10,
467 10,
468 10,
469 10,
470 10,
471};
472
473real_t A_val[] = {
474
475 1.0,
476 1.0,
477 1.0,
478 1.0,
479 1.0,
480 1.0,
481 1.0,
482 1.0,
483 1.0,
484 1.0,
485};
486
487real_t g[] = {
488
489 1.0,
490 1.0,
491 1.0,
492 1.0,
493 1.0,
494 1.0,
495 1.0,
496 1.0,
497 1.0,
498 1.0,
499 1.0,
500 1.0,
501 1.0,
502 1.0,
503 1.0,
504 1.0,
505 1.0,
506 1.0,
507 1.0,
508 1.0,
509 1.0,
510 1.0,
511 1.0,
512 1.0,
513 1.0,
514 1.0,
515 1.0,
516 1.0,
517 1.0,
518 1.0,
519 1.0,
520 1.0,
521 1.0,
522 1.0,
523 1.0,
524 1.0,
525 1.0,
526 1.0,
527 1.0,
528 1.0,
529 1.0,
530 1.0,
531 1.0,
532 1.0,
533 1.0,
534 1.0,
535 1.0,
536 1.0,
537 1.0,
538 1.0,
539 1.0,
540 1.0,
541 1.0,
542 1.0,
543 1.0,
544 1.0,
545 1.0,
546 1.0,
547 1.0,
548 1.0,
549 1.0,
550 1.0,
551 1.0,
552 1.0,
553 1.0,
554 1.0,
555 1.0,
556 1.0,
557 1.0,
558 1.0,
559 1.0,
560 1.0,
561 1.0,
562 1.0,
563 1.0,
564 1.0,
565 1.0,
566 1.0,
567 1.0,
568 1.0,
569 1.0,
570 1.0,
571 1.0,
572 1.0,
573 1.0,
574 1.0,
575 1.0,
576 1.0,
577 1.0,
578 1.0,
579 1.0,
580 1.0,
581 1.0,
582 1.0,
583 1.0,
584 1.0,
585 1.0,
586 1.0,
587 1.0,
588 1.0,
589};
590
591real_t lb[] = {
592
593 -10000000000.0,
594 -10000000000.0,
595 -10000000000.0,
596 -10000000000.0,
597 -10000000000.0,
598 -10000000000.0,
599 -10000000000.0,
600 -10000000000.0,
601 -10000000000.0,
602 -10000000000.0,
603 -10000000000.0,
604 -10000000000.0,
605 -10000000000.0,
606 -10000000000.0,
607 -10000000000.0,
608 -10000000000.0,
609 -10000000000.0,
610 -10000000000.0,
611 -10000000000.0,
612 -10000000000.0,
613 -10000000000.0,
614 -10000000000.0,
615 -10000000000.0,
616 -10000000000.0,
617 -10000000000.0,
618 -10000000000.0,
619 -10000000000.0,
620 -10000000000.0,
621 -10000000000.0,
622 -10000000000.0,
623 -10000000000.0,
624 -10000000000.0,
625 -10000000000.0,
626 -10000000000.0,
627 -10000000000.0,
628 -10000000000.0,
629 -10000000000.0,
630 -10000000000.0,
631 -10000000000.0,
632 -10000000000.0,
633 -10000000000.0,
634 -10000000000.0,
635 -10000000000.0,
636 -10000000000.0,
637 -10000000000.0,
638 -10000000000.0,
639 -10000000000.0,
640 -10000000000.0,
641 -10000000000.0,
642 -10000000000.0,
643 -10000000000.0,
644 -10000000000.0,
645 -10000000000.0,
646 -10000000000.0,
647 -10000000000.0,
648 -10000000000.0,
649 -10000000000.0,
650 -10000000000.0,
651 -10000000000.0,
652 -10000000000.0,
653 -10000000000.0,
654 -10000000000.0,
655 -10000000000.0,
656 -10000000000.0,
657 -10000000000.0,
658 -10000000000.0,
659 -10000000000.0,
660 -10000000000.0,
661 -10000000000.0,
662 -10000000000.0,
663 -10000000000.0,
664 -10000000000.0,
665 -10000000000.0,
666 -10000000000.0,
667 -10000000000.0,
668 -10000000000.0,
669 -10000000000.0,
670 -10000000000.0,
671 -10000000000.0,
672 -10000000000.0,
673 -10000000000.0,
674 -10000000000.0,
675 -10000000000.0,
676 -10000000000.0,
677 -10000000000.0,
678 -10000000000.0,
679 -10000000000.0,
680 -10000000000.0,
681 -10000000000.0,
682 -10000000000.0,
683 -10000000000.0,
684 -10000000000.0,
685 -10000000000.0,
686 -10000000000.0,
687 -10000000000.0,
688 -10000000000.0,
689 -10000000000.0,
690 -10000000000.0,
691 -10000000000.0,
692 -10000000000.0,
693};
694
695real_t ub[] = {
696
697 10000000000.0,
698 10000000000.0,
699 10000000000.0,
700 10000000000.0,
701 10000000000.0,
702 10000000000.0,
703 10000000000.0,
704 10000000000.0,
705 10000000000.0,
706 10000000000.0,
707 10000000000.0,
708 10000000000.0,
709 10000000000.0,
710 10000000000.0,
711 10000000000.0,
712 10000000000.0,
713 10000000000.0,
714 10000000000.0,
715 10000000000.0,
716 10000000000.0,
717 10000000000.0,
718 10000000000.0,
719 10000000000.0,
720 10000000000.0,
721 10000000000.0,
722 10000000000.0,
723 10000000000.0,
724 10000000000.0,
725 10000000000.0,
726 10000000000.0,
727 10000000000.0,
728 10000000000.0,
729 10000000000.0,
730 10000000000.0,
731 10000000000.0,
732 10000000000.0,
733 10000000000.0,
734 10000000000.0,
735 10000000000.0,
736 10000000000.0,
737 10000000000.0,
738 10000000000.0,
739 10000000000.0,
740 10000000000.0,
741 10000000000.0,
742 10000000000.0,
743 10000000000.0,
744 10000000000.0,
745 10000000000.0,
746 10000000000.0,
747 10000000000.0,
748 10000000000.0,
749 10000000000.0,
750 10000000000.0,
751 10000000000.0,
752 10000000000.0,
753 10000000000.0,
754 10000000000.0,
755 10000000000.0,
756 10000000000.0,
757 10000000000.0,
758 10000000000.0,
759 10000000000.0,
760 10000000000.0,
761 10000000000.0,
762 10000000000.0,
763 10000000000.0,
764 10000000000.0,
765 10000000000.0,
766 10000000000.0,
767 10000000000.0,
768 10000000000.0,
769 10000000000.0,
770 10000000000.0,
771 10000000000.0,
772 10000000000.0,
773 10000000000.0,
774 10000000000.0,
775 10000000000.0,
776 10000000000.0,
777 10000000000.0,
778 10000000000.0,
779 10000000000.0,
780 10000000000.0,
781 10000000000.0,
782 10000000000.0,
783 10000000000.0,
784 10000000000.0,
785 10000000000.0,
786 10000000000.0,
787 10000000000.0,
788 10000000000.0,
789 10000000000.0,
790 10000000000.0,
791 10000000000.0,
792 10000000000.0,
793 10000000000.0,
794 10000000000.0,
795 10000000000.0,
796 10000000000.0,
797};
798
799real_t lbA[] = {
800
801 -1.0,
802 -1.0,
803 -1.0,
804 -1.0,
805 -1.0,
806 -1.0,
807 -1.0,
808 -1.0,
809 -1.0,
810 -1.0,
811};
812
813real_t ubA[] = {
814
815 1.0,
816 1.0,
817 1.0,
818 1.0,
819 1.0,
820 1.0,
821 1.0,
822 1.0,
823 1.0,
824 1.0,
825 };
826
827long H_nnz = 100;
828long A_nnz = 10;
INFTY
const real_t INFTY
Definition Constants.hpp:61
USING_NAMESPACE_QPOASES
#define USING_NAMESPACE_QPOASES
Definition Types.hpp:113
sparse_int_t
int_t sparse_int_t
Definition Types.hpp:199
real_t
BEGIN_NAMESPACE_QPOASES typedef double real_t
Definition Types.hpp:171
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