71 lines
1.7 KiB
Mathematica
71 lines
1.7 KiB
Mathematica
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function output = callqpoases(interfacedata)
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options = interfacedata.options;
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model = yalmip2quadprog(interfacedata);
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if options.savedebug
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save debugfile model
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end
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if options.showprogress;showprogress(['Calling ' interfacedata.solver.tag],options.showprogress);end
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solvertime = tic;
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solution = callsolver(model,options);
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solvertime = toc(solvertime);
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switch solution.exitflag
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case 0
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problem = 0;
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case 1
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problem = 3;
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case -2
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problem = 1;
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case -3
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problem = 2;
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case -1
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problem = 11;
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otherwise
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problem = -1;
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end
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% Standard interface
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Primal = solution.x(:);
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Dual = solution.lambda(:);
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infostr = yalmiperror(problem,interfacedata.solver.tag);
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if ~options.savesolverinput
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solverinput = [];
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else
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solverinput = model;
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end
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if ~options.savesolveroutput
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solveroutput = [];
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else
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solveroutput = solution;
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end
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% Standard interface
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output = createOutputStructure(Primal,Dual,[],problem,infostr,solverinput,solveroutput,solvertime);
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function solveroutput = callsolver(model,options)
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x = [];
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fval = [];
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exitflag = [];
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iter = [];
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lambda = [];
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lbA = full([model.beq;-inf(length(model.b),1)]);
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ubA = full([model.beq;model.b]);
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A = [model.Aeq;model.A];
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if nnz(model.Q) == 0
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options.qpoases.enableRegularisation=1;
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end
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options.qpoases.printLevel = options.verbose+1;
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[x,fval,exitflag,iter,lambda] = qpOASES(model.Q, model.c, A, model.lb,model.ub,lbA,ubA,options.qpoases,qpOASES_auxInput());
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solveroutput.x = x;
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solveroutput.fval = fval;
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solveroutput.exitflag = exitflag;
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solveroutput.iter = iter;
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if ~isempty(lambda)
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solveroutput.lambda = -lambda(1+length(model.lb):end);
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else
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solveroutput.lambda=[];
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end
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