72 lines
1.5 KiB
Mathematica
72 lines
1.5 KiB
Mathematica
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function output = callosqp(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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% Define QP
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n_var = length(model.c);
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P = model.Q;
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q = model.c;
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eye_n = speye(n_var);
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A = [model.Aeq;model.A; eye_n];
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l = full([model.beq; -inf(length(model.b),1); model.lb]);
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u = full([model.beq; model.b; model.ub]);
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% Define verbose option
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options.osqp.verbose = options.verbose;
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% Solve with OSQP
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OSQPSolver = osqp;
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OSQPSolver.setup(P, q, A, l, u, options.osqp);
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results = OSQPSolver.solve();
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switch results.info.status_val
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case 1
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problem = 0;
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case 2
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problem = 0;
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case -2
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problem = 3;
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case -3
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problem = 1;
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case 3
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problem = 1;
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case -4
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problem = 2;
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case 4
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problem = 2;
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case -5
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problem = 16;
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case -10
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problem = 11;
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otherwise
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problem = -10;
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end
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% Solver time
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solvertime = results.info.run_time;
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% Standard interface
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Primal = results.x(:);
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Dual = results.y(1:end-n_var);
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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 = results;
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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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