simple_qp_data.hpp

/*
 *  This file is part of qpOASES.
 *
 *  qpOASES -- An Implementation of the Online Active Set Strategy.
 *  Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
 *  Christian Kirches et al. All rights reserved.
 *
 *  qpOASES is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  qpOASES is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 *  See the GNU Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public
 *  License along with qpOASES; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


USING_NAMESPACE_QPOASES

#define NV 100
#define NC 10

const real_t Inf = INFTY;

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sparse_int_t H_cp[] = { 
    
    0,
    89,
    160,
    231,
    320,
    388,
    470,
    538,
    611,
    651,
    708,
    768,
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    1516,
    1593,
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    1717,
    1773,
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    3323,
    3400,
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    3549,
    3624,
    3681,
    3739,
    3812,
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    3947,
    4028,
    4104,
    4186,
    4231,
    4304,
    4350,
    4414,
    4492,
    4575,
    4635,
    4704,
    4772,
    4844,
    4899,
    4979,
    5043,
    5128,
    5197,
    5276,
    5352,
    5431,
    5492,
    5558,
    5638,
    5717,
    5797,
    5860,
    5930,
    6008,
    6099,
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    6238,
    6306,
    6382,
    6441,
    6503,
    6575,
    6621,
    6660,
    6727,
    6800,
    6874,
};

real_t H_val[] = {
    
    0.0036400623550257604,
    4.3451375820987274e-05,
    2.8154529321024527e-05,
    1.058349284017026e-06,
    1.5817505577012435e-06,
    0.00036269699602366277,
    1.5939223154984972e-06,
    1.9905781613356547e-05,
    0.006617942237573037,
    1.4703237898637284e-05,
    2.532220139804081e-05,
    2.0400045701197958e-05,
    9.786425522897559e-05,
    8.733381168004906e-06,
    0.008630783726605808,
    7.365929642574257e-05,
    5.8718839345831116e-05,
    1.1663596453736771e-05,
    0.007160597590819221,
    0.007847234151793583,
    4.799118855640533e-06,
    2.1017098271407778e-05,
    3.2854142780819036e-05,
    0.00012032027402574883,
    4.695908205301601e-05,
    3.391891618363114e-05,
    6.865839426972015e-08,
    0.00450565985570487,
    5.923465003761426e-07,
    1.6407079694044695e-06,
    1.1026494536511072e-06,
    2.0999175882370937e-06,
    0.0011110333225029594,
    1.8656782760597722e-05,
    0.00016463726515054288,
    1.9764588428937462e-05,
    7.048804349060899e-05,
    0.00016526594818091914,
    1.5739800122089514e-05,
    8.544810389600539e-05,
    0.0044510452107628835,
    0.00010202137810034909,
    3.076454718646216e-05,
    0.007042734309568557,
    0.00010528753431476505,
    0.00016056771047132448,
    3.89090190295633e-05,
    8.310218795996274e-05,
    2.6534495447257202e-05,
    0.005896520474143277,
    0.00010760530953880158,
    4.262629380572652e-05,
    3.7686390290702356e-05,
    1.0482807165536582e-05,
    8.2936366790311e-06,
    9.142508566084441e-05,
    0.0063393024704901345,
    4.2655792352873584e-05,
    0.009014740192242751,
    9.478196456125603e-05,
    0.00972144003206556,
    0.0001277688390982566,
    7.472068481635205e-05,
    1.8734155484644436e-06,
    1.5242491587519319e-05,
    7.71081508500837e-05,
    0.00010322667475459351,
    1.7857945324176098e-05,
    2.2088685428722426e-05,
    9.081164422170525e-05,
    7.412144330241568e-06,
    5.321768311467811e-05,
    8.54482043585373e-06,
    0.0019207585976825402,
    0.00011036718862435829,
    0.005713878505717975,
    0.008965663068428692,
    0.0029512563984702782,
    0.009287224138628118,
    0.008239347700691868,
    0.006329999010846514,
    0.005794533630906074,
    0.00574581527221644,
    0.0015286668560874448,
    0.0034194658432815557,
    0.007546820998713696,
    0.0020986143266744518,
    0.00848804115945128,
    1.0174228790450237,
    3.6211453017926045e-05,
    2.4723271872059743e-05,
    3.655322791892029e-05,
    1.1858073903861733e-05,
    8.138762190459502e-06,
    8.27067019911165e-06,
    8.098320768821391e-05,
    2.244436982658596e-06,
    0.0023922321366585796,
    1.6888929301382213e-05,
    4.8878825131751535e-05,
    3.366232988367765e-05,
    5.6550313371836705e-05,
    2.6958770302895138e-05,
    7.467161408604157e-05,
    5.018358904242168e-05,
    4.6357147705395986e-05,
    4.772181923265292e-06,
    4.1637468351522585e-05,
    0.005018402425556384,
    2.3102054619062538e-05,
    8.287239270239654e-05,
    1.6206885535492838e-05,
    5.422057846185583e-06,
    6.623595464622124e-05,
    7.419416670917138e-05,
    5.3873092159245e-05,
    0.009613346311948063,
    5.408312218936873e-05,
    5.264850636123655e-05,
    6.222207450410723e-05,
    2.5283835845936842e-05,
    0.00674617791236786,
    3.9709134277977404e-05,
    0.00842634005475897,
    5.0148776047508897e-05,
    6.522745373782873e-05,
    9.160651790060595e-05,
    0.00010183618537375991,
    0.0001204369410194575,
    9.45527466148835e-05,
    0.005131700163305644,
    0.00010653288579349231,
    7.014458098379015e-06,
    5.8729422882028494e-05,
    9.399386408590776e-05,
    0.0001129253805894384,
    7.645574527309935e-05,
    5.312082381498302e-05,
    2.8651042860903155e-05,
    0.00012261209406726128,
    5.263317597042702e-06,
    5.524170723711119e-05,
    5.386498799229628e-05,
    0.003258991502252713,
    0.00011036718862435829,
    0.008788743162951177,
    0.0009830902887607762,
    0.007315470196481674,
    0.006357808687633092,
    0.0027643037349795144,
    0.006085598405466598,
    0.0033801536148952,
    0.009060445131141749,
    0.009882759593724188,
    0.0006949372352616699,
    0.004220681095862514,
    0.012006271154335118,
    0.012813625909626442,
    0.00589213577782564,
    1.0096901756319723,
    1.972049328233557e-06,
    2.2433062721085766e-06,
    2.132797269703622e-06,
    1.933607075234137e-05,
    1.5324605124138993e-05,
    2.7934513576924285e-05,
    2.1276079051268394e-05,
    9.514188887823765e-06,
    6.627270386680282e-07,
    2.691506463774306e-06,
    0.0010612541856490243,
    1.1862578488334266e-06,
    1.656838550283511e-06,
    1.990227659369478e-06,
    4.558479926457905e-05,
    3.1492717831146598e-06,
    3.9331586555146806e-05,
    9.849916266201628e-06,
    1.440955553962265e-05,
    4.442344954711435e-05,
    0.0004195966818797722,
    7.092098892430295e-05,
    5.351529579156392e-05,
    0.004634066879474433,
    0.00788135828673028,
    0.0011035844870068423,
    9.108396625983994e-06,
    4.5744979932388834e-06,
    3.658505363849941e-05,
    0.00011449612249317954,
    5.367080479121616e-05,
    0.007536101314779872,
    7.932889293692498e-06,
    6.040915927635078e-05,
    3.0345710219469527e-05,
    1.5765266083114732e-05,
    0.007496747275018019,
    5.477360401773848e-05,
    0.00010740660096765256,
    4.7298225712617244e-05,
    0.007636030670880136,
    3.86650835506941e-05,
    7.339128572956441e-05,
    4.892233214493144e-05,
    8.031746833525979e-06,
    9.500151198094398e-05,
    7.891320233959729e-05,
    0.008774287957556134,
    5.454227235294692e-05,
    7.310290289575026e-06,
    0.00012240969635691026,
    7.473978611656519e-06,
    8.749361914559068e-05,
    6.094138202063724e-05,
    1.0786968122519265e-05,
    3.9008191727962326e-05,
    0.007720895238812851,
    0.009630677550983137,
    0.0008094970202235607,
    0.007513842671876183,
    0.004367331740704896,
    0.009041327173160378,
    0.009395193044154506,
    0.007106771127311314,
    0.0025027531135822763,
    0.001505445880622247,
    0.00032154997618342605,
    0.004275057037133662,
    0.0030972922175133,
    0.0019747358368568304,
    1.000396397501358,
    1.0443226802502651e-05,
    0.009743049631104774,
    3.1492717831146598e-06,
    5.433155133322079e-06,
    1.3878170459442497e-05,
    6.205293339025682e-06,
    5.326649168148768e-05,
    1.984736516522655e-05,
    0.008550548609811963,
    3.1527067534437825e-05,
    4.7248459417462044e-06,
    2.9408081782277706e-06,
    0.00010938912433855871,
    2.4213688635566925e-06,
    0.0005275661483209082,
    4.634868129524442e-05,
    4.3275702448087675e-05,
    6.787198893609816e-05,
    3.0274665047374855e-05,
    0.007790053939240377,
    5.8670941981003886e-05,
    6.37028078542803e-05,
    9.79414383924028e-05,
    1.833190249544069e-05,
    5.616434308975793e-05,
    0.004432264135737421,
    5.393172876158273e-05,
    6.101829323367727e-05,
    6.442624923415236e-05,
    7.583882756894263e-05,
    2.8292786126268883e-06,
    0.00012382073634337326,
    3.194862700383684e-06,
    0.0012815068139153654,
    9.262511050021996e-06,
    5.124321109448016e-05,
    7.419336729443077e-07,
    0.005738400102416387,
    2.6463650851974373e-05,
    3.749231695173124e-05,
    0.00011307173467956233,
    5.276511670132932e-05,
    0.00010015603807410011,
    6.944150722416447e-05,
    3.819063871128943e-06,
    2.6087163904935546e-05,
    6.771638314171035e-05,
    5.4053340630327065e-05,
    2.3321140638181313e-05,
    0.008315295754634805,
    7.755706793911599e-05,
    7.216524130910202e-05,
    0.00010527569821340091,
    6.648775300564829e-05,
    0.00013430194690215467,
    0.00019408068036398684,
    0.006586798633828459,
    6.965275646704858e-05,
    0.00016966285388558808,
    0.007973859332807587,
    9.513935743872953e-05,
    1.1173546844994064e-05,
    4.5523933983688476e-05,
    1.9266161726239038e-05,
    0.0020350525021958785,
    0.00014087934069183532,
    0.00694616003156225,
    0.00010411803164345695,
    0.00011889205758591477,
    3.8513269850336475e-05,
    6.807367336737874e-05,
    0.00013379945568627112,
    0.008665013304399156,
    0.0023031022140271094,
    0.002235762253920633,
    0.004679745180711632,
    0.008164860638231877,
    0.009496872318820002,
    0.007281113407364993,
    0.006620078112091664,
    0.009902295270012016,
    0.00890671898717624,
    0.005873673790252434,
    0.0017204913863231868,
    0.00629538472814543,
    0.007908396123318565,
    1.005946206360871,
    0.003258991502252713,
    0.0019207585976825402,
    2.162203723537085e-05,
    1.8853793968401794e-05,
    4.573845607783466e-06,
    8.17597435056736e-06,
    4.654126826922435e-07,
    8.645709649879834e-07,
    1.3866946691552715e-05,
    8.760010546227632e-06,
    0.0020676055741927837,
    1.66515736182694e-05,
    1.0116095375722495e-05,
    1.3460548600472357e-05,
    0.008441282349888507,
    8.565419016550504e-05,
    0.002284715759170237,
    2.983059461560402e-05,
    8.218202439742403e-05,
    3.453785158693196e-05,
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    1.9429607794752888e-05,
    0.004455228636882102,
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    2.3726769872314397e-05,
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    2.1432104694935766e-05,
    3.1968056060833624e-05,
    2.058697160405831e-05,
    6.841599600088951e-05,
    1.2827787409715243e-05,
    3.2874580211676028e-06,
    2.134225602766022e-05,
    0.003224498097106496,
    9.73683053803303e-05,
    3.398949873757143e-05,
    4.5865172442288695e-05,
    5.8718839345831116e-05,
    5.646706491604017e-05,
    2.3104780332391485e-05,
    5.109858086914298e-05,
    3.781020879821394e-05,
    8.714215975638049e-06,
    0.003131018813857472,
    2.534535230410747e-05,
    7.044948047777424e-05,
    2.0879152531223147e-05,
    4.611385404600837e-05,
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sparse_int_t A_ri[] = {
    
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sparse_int_t A_cp[] = {
    
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real_t A_val[] = {
    
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};

real_t g[] = {
    
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    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
};

real_t lb[] = {
    
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
    -10000000000.0,
};

real_t ub[] = {
    
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
    10000000000.0,
};

real_t lbA[] = {
    
    -1.0,
    -1.0,
    -1.0,
    -1.0,
    -1.0,
    -1.0,
    -1.0,
    -1.0,
    -1.0,
    -1.0,
};

real_t ubA[] = {
    
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    };

long H_nnz = 6874; 
long A_nnz = 10;