1. 安装
需要先安装 blas 和 ma27
BLAS：
cd my_lib/
wget http://www.netlib.org/blas/blas.tgz
tar zxf blas.tgz
cd BLAS-3.10.0/
gfortran -O3 -std=legacy -m64 -fno-second-underscore -fPIC -c *.f
ar r libfblas.a *.o
ranlib libfblas.a
rm -rf *.o
export BLAS=~/my_lib/BLAS-3.10.0/libfblas.a
MA27：
cd my_lib/
git clone git://github.com/HITSZ-LeggedRobotics/ma27.git
cd ma27/
bash ./configure CPPFLAGS="-fPIC" CFLAGS="-fPIC" FFLAGS="-fPIC"
sudo make install
OOQP：
在 ma27/src 中复制 libma27.a 文件到 ooqp 文件夹下
cd my_lib/
git clone git://github.com/emgertz/OOQP.git
cd OOQP/
./configure
sudo make
sudo make install
结果：
seivl@seivl-Default-string:~/my_lib/OOQP$ sudo make install
/usr/bin/install -c -d /usr/local/include/ooqp
/usr/bin/install -c ./include/*.h /usr/local/include/ooqp
/usr/bin/install -c -d /usr/local/lib
/usr/bin/install -c ./lib/*.a /usr/local/lib
if [ -d doc-src ]; then cd doc-src; fi; make
make[1]: Entering directory '/home/seivl/my_lib/OOQP/doc-src'
cd ooqp-userguide; \
pdflatex ooqp-userguide; \
bibtex ooqp-userguide; \
pdflatex ooqp-userguide; \
pdflatex ooqp-userguide
/bin/sh: 2: pdflatex: not found
/bin/sh: 3: bibtex: not found
/bin/sh: 4: pdflatex: not found
/bin/sh: 5: pdflatex: not found
GNUmakefile:42: recipe for target 'ooqp-userguide/ooqp-userguide.pdf' failed
make[1]: *** [ooqp-userguide/ooqp-userguide.pdf] Error 127
make[1]: Leaving directory '/home/seivl/my_lib/OOQP/doc-src'
GNUmakefile:102: recipe for target 'install_docs' failed
make: *** [install_docs] Error 2
2. 使用
#include "QpGenData.h"
#include "QpGenVars.h"
#include "QpGenResiduals.h"
#include "GondzioSolver.h"
#include "QpGenSparseMa27.h"
#include <iostream>
#include <string.h>
using namespace std;
const int nx = 2;
double c[] = { 1.5, -2 };
double xupp[] = { 20, 0 };
char ixupp[] = { 1, 0 };
double xlow[] = { 0, 0 };
char ixlow[] = { 1, 1 };
const int nnzQ = 3;
int irowQ[] = { 0, 1, 1 };
int jcolQ[] = { 0, 0, 1 };
double dQ[] = { 8, 2, 10 };
int my = 0;
double * b = 0;
int nnzA = 0;
int * irowA = 0;
int * jcolA = 0;
double * dA = 0;
const int mz = 2;
double clow[] = { 2, 0 };
char iclow[] = { 1, 0 };
double cupp[] = { 0, 6 };
char icupp[] = { 0, 1 };
const int nnzC = 4;
int irowC[] = { 0, 0, 1, 1};
int jcolC[] = { 0, 1, 0, 1};
double dC[] = { 2, 1, -1, 2};
int main( int argc, char * argv[] )
{
int usage_ok = 1, quiet = 0;
if( argc > 2 ) usage_ok = 0;
if( argc == 2 ) {
if( 0 == strcmp( "--quiet", argv[1] ) ) {
quiet = 1;
} else {
usage_ok = 0;
}
}
if( !usage_ok ) {
cerr << "Usage: " << argv[0] << " [ --quiet ]\n";
return 1;
}
QpGenSparseMa27 * qp
= new QpGenSparseMa27( nx, my, mz, nnzQ, nnzA, nnzC );
QpGenData * prob = (QpGenData * ) qp->copyDataFromSparseTriple(
c, irowQ, nnzQ, jcolQ, dQ,
xlow, ixlow, xupp, ixupp,
irowA, nnzA, jcolA, dA, b,
irowC, nnzC, jcolC, dC,
clow, iclow, cupp, icupp );
QpGenVars * vars
= (QpGenVars *) qp->makeVariables( prob );
QpGenResiduals * resid
= (QpGenResiduals *) qp->makeResiduals( prob );
GondzioSolver * s = new GondzioSolver( qp, prob );
if( !quiet ) s->monitorSelf();
int ierr = s->solve(prob,vars, resid);
if( ierr == 0 ) {
cout.precision(4);
cout << "Solution: \n";
vars->x->writefToStream( cout, "x[%{index}] = %{value}" );
} else {
cout << "Could not solve the problem.\n";
}
return ierr;
}
cmake_minimum_required(VERSION 2.8.9)
project(astar)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
find_package(OpenCV REQUIRED)
set(AS_SOURCES
${CMAKE_CURRENT_SOURCE_DIR}/src/AStar.cpp
)
set(AS_HEADERS
${CMAKE_CURRENT_SOURCE_DIR}/include/AStar.h
)
include_directories(include
maps
"/home/seivl/my_lib/OOQP/include"
)
link_directories("/home/seivl/my_lib/OOQP/lib")
add_executable(main src/main.cpp ${AS_HEADERS} ${AS_SOURCES})
target_link_libraries(main
${OpenCV_LIBS}
ooqpgensparse
ooqpsparse
ooqpgondzio
ooqpbase
blas
ma27
gfortran
)
seivl@seivl-Default-string:~/my_codebase/astar/build$ ./main
Duality Gap: 24408.2
*** Iteration 1 ***
mu = 1.05983e+06 relative residual norm = 51.3635
*** sigma = 0.00860914
Duality Gap: 100552
Number of Corrections = 3 alpha = 0.932017
*** Iteration 2 ***
mu = 91617.7 relative residual norm = 3.49182
*** sigma = 0.0167391
Duality Gap: 43229
Number of Corrections = 0 alpha = 1
*** Iteration 3 ***
mu = 8645.81 relative residual norm = 3.49182e-08
*** sigma = 0.000574057
Duality Gap: 3626.12
Number of Corrections = 1 alpha = 0.923124
*** Iteration 4 ***
mu = 725.224 relative residual norm = 2.68436e-09
*** sigma = 0.636176
Duality Gap: 5271.94
Number of Corrections = 0 alpha = 0.531986
*** Iteration 5 ***
mu = 1054.39 relative residual norm = 1.25632e-09
*** sigma = 0.00263244
Duality Gap: 691.751
Number of Corrections = 3 alpha = 0.875319
*** Iteration 6 ***
mu = 138.35 relative residual norm = 1.5664e-10
*** sigma = 0.619859
Duality Gap: 823.53
Number of Corrections = 3 alpha = 0.167946
*** Iteration 7 ***
mu = 164.706 relative residual norm = 1.30332e-10
*** sigma = 0.000274768
Duality Gap: 21.3443
Number of Corrections = 1 alpha = 0.99906
*** Iteration 8 ***
mu = 4.26886 relative residual norm = 1.22835e-13
*** sigma = 0.505767
Duality Gap: 74.7201
Number of Corrections = 0 alpha = 1
*** Iteration 9 ***
mu = 14.944 relative residual norm = 7.10543e-16
*** sigma = 0.223693
Duality Gap: 35.3068
Number of Corrections = 0 alpha = 1
*** Iteration 10 ***
mu = 7.06137 relative residual norm = 5.32907e-16
*** sigma = 0.00165875
Duality Gap: 1.91847
Number of Corrections = 3 alpha = 0.978992
*** Iteration 11 ***
mu = 0.383694 relative residual norm = 1.02696e-16
*** sigma = 0.00411975
Duality Gap: 0.0711423
Number of Corrections = 1 alpha = 0.999296
*** Iteration 12 ***
mu = 0.0142285 relative residual norm = 8.73173e-15
*** sigma = 3.7001e-05
Duality Gap: 9.98993e-05
Number of Corrections = 0 alpha = 1
*** Iteration 13 ***
mu = 1.99799e-05 relative residual norm = 7.00043e-16
*** sigma = 1.73374e-13
Duality Gap: 1.72513e-12
Number of Corrections = 1 alpha = 1
*** Iteration 14 ***
mu = 2.73377e-13 relative residual norm = 1.79335e-14
*** SUCCESSFUL TERMINATION ***
Solution:
x[0] = 0.7625
x[1] = 0.475
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