本文整理汇总了Python中qpoases.PyOptions.enableCholeskyRefactorisation方法的典型用法代码示例。如果您正苦于以下问题：Python PyOptions.enableCholeskyRefactorisation方法的具体用法？Python PyOptions.enableCholeskyRefactorisation怎么用？Python PyOptions.enableCholeskyRefactorisation使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类qpoases.PyOptions的用法示例。
在下文中一共展示了PyOptions.enableCholeskyRefactorisation方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: test_example1b
# 需要导入模块: from qpoases import PyOptions [as 别名]
# 或者: from qpoases.PyOptions import enableCholeskyRefactorisation [as 别名]
def test_example1b(self):
"""Example for qpOASES main function using the QProblemB class."""
# Setup data of first QP.
H = np.array([1.0, 0.0, 0.0, 0.5]).reshape((2, 2))
g = np.array([1.5, 1.0])
lb = np.array([0.5, -2.0])
ub = np.array([5.0, 2.0])
# Setup data of second QP.
g_new = np.array([1.0, 1.5])
lb_new = np.array([0.0, -1.0])
ub_new = np.array([5.0, -0.5])
# Setting up QProblemB object.
qp = QProblemB(2)
options = Options()
# options.enableFlippingBounds = BooleanType.FALSE
options.initialStatusBounds = SubjectToStatus.INACTIVE
options.numRefinementSteps = 1
options.enableCholeskyRefactorisation = 1
options.printLevel = PrintLevel.NONE
qp.setOptions(options)
# Solve first QP.
nWSR = 10
qp.init(H, g, lb, ub, nWSR)
xOpt_actual = np.zeros(2)
qp.getPrimalSolution(xOpt_actual)
xOpt_actual = np.asarray(xOpt_actual, dtype=float)
objVal_actual = qp.getObjVal()
objVal_actual = np.asarray(objVal_actual, dtype=float)
print 'xOpt_actual:', xOpt_actual
print 'objVal_actual:', objVal_actual
# Solve second QP.
nWSR = 10
qp.hotstart(g_new, lb_new, ub_new, nWSR)
xOpt_actual = np.zeros(2)
qp.getPrimalSolution(xOpt_actual)
xOpt_actual = np.asarray(xOpt_actual, dtype=float)
objVal_actual = qp.getObjVal()
objVal_actual = np.asarray(objVal_actual, dtype=float)
print 'xOpt_actual:', xOpt_actual
print 'objVal_actual:', objVal_actual
# Get and print solution of second QP.
xOpt_actual = np.zeros(2)
qp.getPrimalSolution(xOpt_actual)
xOpt_actual = np.asarray(xOpt_actual, dtype=float)
objVal_actual = qp.getObjVal()
objVal_actual = np.asarray(objVal_actual, dtype=float)
cmd = os.path.join(bin_path, "example1b")
p = Popen(cmd, shell=True, stdout=PIPE)
stdout, stderr = p.communicate()
stdout = str(stdout).replace('\\n', '\n')
stdout = stdout.replace("'", '')
# get c++ solution from std
pattern = re.compile(r'xOpt\s*=\s*\[\s+(?P<xOpt>([0-9., e+-])*)\];')
match = pattern.findall(stdout)
xOpt_expected = match[-1][0]
xOpt_expected = xOpt_expected.split(",")
xOpt_expected = np.asarray(xOpt_expected, dtype=float)
pattern = re.compile(r'objVal = (?P<objVal>[0-9-+e.]*)')
match = pattern.findall(stdout)
print match
objVal_expected = match[-1]
objVal_expected = np.asarray(objVal_expected, dtype=float)
print("xOpt_actual =", xOpt_actual)
print("xOpt_expected =", xOpt_expected)
print("objVal_actual = ", objVal_actual)
print("objVal_expected = ", objVal_expected)
assert_almost_equal(xOpt_actual, xOpt_expected, decimal=7)
assert_almost_equal(objVal_actual, objVal_expected, decimal=7)