Python PyOptions.printLevel方法代碼示例

# 需要導入模塊: from qpoases import PyOptions [as 別名]
# 或者: from qpoases.PyOptions import printLevel [as 別名]
    def test_example7(self):
        H   = np.array([ 0.8514828085899353, -0.15739890933036804, -0.081726007163524628, -0.530426025390625, 0.16773293912410736,
                        -0.15739890933036804, 1.1552412509918213, 0.57780224084854126, -0.0072606131434440613, 0.010559185408055782,
                        -0.081726007163524628, 0.57780224084854126, 0.28925251960754395, 5.324830453901086e-006, -3.0256599075073609e-006,
                        -0.530426025390625, -0.0072606131434440613, 5.324830453901086e-006, 0.35609596967697144, -0.15124998986721039,
                         0.16773293912410736, 0.010559185408055782, -3.0256599075073609e-006, -0.15124998986721039,
                         0.15129712224006653], dtype=float).reshape((5, 5))
        g   = np.array([0.30908384919166565, 0.99325823783874512, 0.49822014570236206, -0.26309865713119507, 0.024296050891280174], dtype=float).reshape((5,))
        A   = np.array([1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1], dtype=float).reshape((5, 5))
        lb  = np.array([-0.052359879016876221, -0.052359879016876221, -0.052359879016876221, -0.052359879016876221, -0.052359938621520996], dtype=float).reshape((5,))
        ub  = np.array([ 0.052359879016876221, 0.052359879016876221, 0.052359879016876221, 0, 0], dtype=float).reshape((5,))
        lbA = np.array([-0.052359879016876221, -0.052359879016876221, -0.052359879016876221, -0.052359879016876221, -0.052359938621520996], dtype=float).reshape((5,))
        ubA = np.array([0.052359879016876221, 0.052359879016876221, 0.052359879016876221, 0, 0], dtype=float).reshape((5,))

        # Setting up QProblem object.
        qp = QProblem(5, 5)
        options = Options()
        options.printLevel = PrintLevel.NONE
        qp.setOptions(options)

        # Solve first QP.
        nWSR = 100
        qp.init(H, g, A, lb, ub, lbA, ubA,  nWSR)

        result = np.zeros((5,))
        qp.getPrimalSolution(result)

# 需要導入模塊: from qpoases import PyOptions [as 別名]
# 或者: from qpoases.PyOptions import printLevel [as 別名]
    def test_m44_reliable_sparse(self):
        test_name = 'mm44_reliable_sparse.txt'
        print(test_name)

        # QP Options
        options = Options()
        options.setToReliable()
        options.printLevel = PrintLevel.NONE

        isSparse = True
        useHotstarts = False

        # run QP benchmarks
        results = run_benchmarks(benchmarks, options, isSparse, useHotstarts,
                                 self.nWSR, self.cpu_time, self.TOL)

        # print and write results
        string = results2str(results)
        print(string)
        write_results(test_name, string)

        assert get_nfail(results) <= 0, 'One ore more tests failed.'

# 需要導入模塊: from qpoases import PyOptions [as 別名]
# 或者: from qpoases.PyOptions import printLevel [as 別名]
def solveLeastSquare(A, b, lb=None, ub=None, A_in=None, lb_in=None, ub_in=None):
    n                   = A.shape[1];
    m_in                = 0;
    if(A_in!=None):
        m_in = A_in.shape[0];
        if(lb_in==None):
            lb_in           = np.array(m_in*[-1e99]);
        if(ub_in==None):
            ub_in           = np.array(m_in*[1e99]);
            
    if(lb==None):
        lb                  = np.array(n*[-1e99]);
    if(ub==None):
        ub                  = np.array(n*[1e99]);
        
    Hess                = np.dot(A.transpose(),A);
    grad                = -np.dot(A.transpose(),b);
    maxActiveSetIter    = np.array([100+2*m_in+2*n]);
    maxComputationTime  = np.array([600.0]);
    options             = Options();
    options.printLevel  = PrintLevel.LOW; #NONE, LOW, MEDIUM
    options.enableRegularisation = True;
    print 'Gonna solve QP...';
    if(m_in==0):
        qpOasesSolver       = QProblemB(n); #, HessianType.SEMIDEF);
        qpOasesSolver.setOptions(options);
        imode = qpOasesSolver.init(Hess, grad, lb, ub, maxActiveSetIter, maxComputationTime);
    else:
        qpOasesSolver       = SQProblem(n, m_in); #, HessianType.SEMIDEF);
        qpOasesSolver.setOptions(options);
        imode = qpOasesSolver.init(Hess, grad, A_in, lb, ub, lb_in, ub_in, maxActiveSetIter, maxComputationTime);
#    print 'QP solved in %f seconds and %d iterations' % (maxComputationTime[0],maxActiveSetIter[0]);
    if(imode!=0 and imode!=63):
        print "ERROR Qp oases %d " % (imode);    
    x_norm  = np.zeros(n);  # solution of the normalized problem
    qpOasesSolver.getPrimalSolution(x_norm);
    return x_norm;

# 需要導入模塊: from qpoases import PyOptions [as 別名]
# 或者: from qpoases.PyOptions import printLevel [as 別名]
    def test_id_hessian(self):
        """Very simple example for testing qpOASES (using QProblem class)."""

        path = os.path.join(testing_path, "dev_idhessian_data")

        #Setup data for QP.
        H   = np.loadtxt(os.path.join(path, "H.txt"))
        g   = np.loadtxt(os.path.join(path, "g.txt"))
        A   = np.loadtxt(os.path.join(path, "A.txt"))
        lb  = np.loadtxt(os.path.join(path, "lb.txt"))
        ub  = np.loadtxt(os.path.join(path, "ub.txt"))
        lbA = np.loadtxt(os.path.join(path, "lbA.txt"))
        ubA = np.loadtxt(os.path.join(path, "ubA.txt"))

        #Setting up QProblem object.
        qp = QProblem(72,144)

        options = Options()
        options.numRefinementSteps   = 1
        options.printLevel = PrintLevel.NONE

        #options.setToMPC()
        #options.setToReliable()
        #options.enableFlippingBounds = BooleanType.FALSE
        options.enableRamping = BooleanType.FALSE
        #options.enableRamping = BooleanType.TRUE
        #options.enableFarBounds = BooleanType.FALSE
        #options.enableRamping = BooleanType.FALSE
        #options.printLevel = PL_LOW
        #options.enableFullLITests = BooleanType.FALSE
        #options.boundRelaxation = 1.0e-1
        qp.setOptions( options )

        #Solve QP.
        nWSR = 1200

        qp.init(H, g, A, lb, ub, lbA, ubA, nWSR)

# 需要導入模塊: from qpoases import PyOptions [as 別名]
# 或者: from qpoases.PyOptions import printLevel [as 別名]
    def test_example1(self):
        return 0
        # Example for qpOASES main function using the QProblem class.
        #Setup data of first QP.

        H   = np.array([1.0, 0.0, 0.0, 0.5 ]).reshape((2,2))
        A   = np.array([1.0, 1.0 ]).reshape((2,1))
        g   = np.array([1.5, 1.0 ])
        lb  = np.array([0.5, -2.0])
        ub  = np.array([5.0, 2.0 ])
        lbA = np.array([-1.0 ])
        ubA = np.array([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])
        lbA_new = np.array([-2.0])
        ubA_new = np.array([1.0])

        # Setting up QProblemB object.
        qp = QProblem(2, 1)
        options = Options()
        options.printLevel = PrintLevel.NONE
        qp.setOptions(options)

        # Solve first QP.
        nWSR = 10
        qp.init(H, g, A, lb, ub, lbA, ubA, nWSR)

        # Solve second QP.
        nWSR = 10
        qp.hotstart(g_new, lb_new, ub_new, lbA_new, ubA_new, nWSR)

        # 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, "example1")
        p = Popen(cmd, shell=True, stdout=PIPE)
        stdout, stderr = p.communicate()
        stdout = str(stdout).replace('\\n', '\n')
        stdout = stdout.replace("'", '')
        print(stdout)

        # get c++ solution from std
        pattern = re.compile(r'xOpt\s*=\s*\[\s+(?P<xOpt>([0-9., e+-])*)\];')
        match = pattern.search(stdout)
        xOpt_expected = match.group('xOpt')
        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.search(stdout)
        objVal_expected = match.group('objVal')
        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)

# 需要導入模塊: from qpoases import PyOptions [as 別名]
# 或者: from qpoases.PyOptions import printLevel [as 別名]
    def test_example2(self):
        # Example for qpOASES main function using the SQProblem class.
        #  Setup data of first QP.
        H = np.array([ 1.0, 0.0, 0.0, 0.5 ]).reshape((2,2))
        A = np.array([ 1.0, 1.0 ]).reshape((2,1))
        g = np.array([ 1.5, 1.0 ])
        lb = np.array([ 0.5, -2.0 ])
        ub = np.array([ 5.0, 2.0 ])
        lbA = np.array([ -1.0 ])
        ubA = np.array([ 2.0 ])

        #  Setup data of second QP.
        H_new = np.array([ 1.0, 0.5, 0.5, 0.5 ]).reshape((2,2))
        A_new = np.array([ 1.0, 5.0 ]).reshape((2,1))
        g_new = np.array([ 1.0, 1.5 ])
        lb_new = np.array([ 0.0, -1.0 ])
        ub_new = np.array([ 5.0, -0.5 ])
        lbA_new = np.array([ -2.0 ])
        ubA_new = np.array([ 1.0 ])

        #  Setting up SQProblem object and solution analyser.
        qp = SQProblem(2, 1)
        options = Options()
        options.printLevel = PrintLevel.NONE
        qp.setOptions(options)

        analyser = SolutionAnalysis()

        # get c++ solution from std
        cmd = os.path.join(bin_path, "example2")
        p = Popen(cmd, shell=True, stdout=PIPE)
        stdout, stderr = p.communicate()
        stdout = str(stdout).replace('\\n', '\n')
        stdout = stdout.replace("'", '')
        print(stdout)

        #  Solve first QP ...
        nWSR = 10
        qp.init(H, g, A, lb, ub, lbA, ubA, nWSR)

        #  ... and analyse it.
        maxKKTviolation = np.zeros(1)
        analyser.getMaxKKTviolation(qp, maxKKTviolation)
        print("maxKKTviolation: %e\n"%maxKKTviolation)
        actual = np.asarray(maxKKTviolation)

        pattern = re.compile(r'maxKKTviolation: (?P<maxKKTviolation>[0-9+-e.]*)')

        match = pattern.findall(stdout)
        expected = np.asarray(match[0], dtype=float)

        assert_almost_equal(actual, expected, decimal=7)

        #  Solve second QP ...
        nWSR = 10
        qp.hotstart(H_new, g_new, A_new,
                              lb_new, ub_new,
                              lbA_new, ubA_new, nWSR)

        #  ... and analyse it.
        analyser.getMaxKKTviolation(qp, maxKKTviolation)
        print("maxKKTviolation: %e\n"%maxKKTviolation)
        actual = np.asarray(maxKKTviolation)

        expected = np.asarray(match[1], dtype=float)

        assert_almost_equal(actual, expected, decimal=7)


        #  ------------ VARIANCE-COVARIANCE EVALUATION --------------------

        Var             = np.zeros(5*5)
        Primal_Dual_Var = np.zeros(5*5)

        Var.reshape((5,5))[0,0] = 1.
        Var.reshape((5,5))[1,1] = 1.

        #                  (  1   0   0   0   0   )
        #                  (  0   1   0   0   0   )
        #     Var     =    (  0   0   0   0   0   )
        #                  (  0   0   0   0   0   )
        #                  (  0   0   0   0   0   )


        analyser.getVarianceCovariance(qp, Var, Primal_Dual_Var)
        print('Primal_Dual_Var=\n', Primal_Dual_Var.reshape((5,5)))
        actual = Primal_Dual_Var.reshape((5,5))

        pattern = re.compile(r'Primal_Dual_VAR = (?P<VAR>.*)',
                             re.DOTALL)

        print(stdout)
        match = pattern.search(stdout)
        expected = match.group('VAR').strip().split("\n")
        expected = [x.strip().split() for x in expected]
        print(expected)
        expected = np.asarray(expected, dtype=float)

        assert_almost_equal(actual, expected, decimal=7)

# 需要導入模塊: from qpoases import PyOptions [as 別名]
# 或者: from qpoases.PyOptions import printLevel [as 別名]
    def test_qp_setup_with_toy_example_hack_from_qpoases_manual(self):
        gen = ClassicGenerator()

        options = Options()
        options.printLevel = PrintLevel.LOW


        # define matrices from qpoases manual
        H   = numpy.array([ 1.0, 0.0, 0.0, 0.5 ]).reshape((2,2))
        A   = numpy.array([ 1.0, 1.0 ]).reshape((1,2))
        g   = numpy.array([ 1.5, 1.0 ])
        lb  = numpy.array([ 0.5, -2.0 ])
        ub  = numpy.array([ 5.0, 2.0 ])
        lbA = numpy.array([ -1.0 ])
        ubA = numpy.array([ 2.0 ])

        x = numpy.array([0.5, -1.5])
        f = -6.25e-02

        # hack pattern generator
        gen.ori_nv = 2
        gen.ori_nc = 1
        gen.ori_dofs = numpy.zeros((2,))
        gen.ori_qp = SQProblem(gen.ori_nv, gen.ori_nc)
        gen.ori_qp.setOptions(options)

        gen.ori_H   = H
        gen.ori_A   = A
        gen.ori_g   = g
        gen.ori_lb  = lb
        gen.ori_ub  = ub
        gen.ori_lbA = lbA
        gen.ori_ubA = ubA

        gen.pos_nv = 2
        gen.pos_nc = 1
        gen.pos_dofs = numpy.zeros((2,))
        gen.pos_qp = SQProblem(gen.pos_nv, gen.pos_nc)
        gen.pos_qp.setOptions(options)

        gen.pos_H   = H
        gen.pos_A   = A
        gen.pos_g   = g
        gen.pos_lb  = lb
        gen.pos_ub  = ub
        gen.pos_lbA = lbA
        gen.pos_ubA = ubA

        # test first qp solution
        gen._solve_qp()

        # get solution
        # NOTE post_process put entries into array that dont match anymore
        gen.pos_qp.getPrimalSolution(gen.pos_dofs)
        gen.ori_qp.getPrimalSolution(gen.ori_dofs)

        assert_allclose(gen.pos_dofs, x, rtol=RTOL, atol=ATOL)
        assert_allclose(gen.pos_qp.getObjVal(), f, rtol=RTOL, atol=ATOL)
        assert_allclose(gen.ori_dofs, x, rtol=RTOL, atol=ATOL)
        assert_allclose(gen.ori_qp.getObjVal(), f, rtol=RTOL, atol=ATOL)

        # define matrices for warmstart
        H_new   = numpy.array([ 1.0, 0.5, 0.5, 0.5 ]).reshape((2,2))
        A_new   = numpy.array([ 1.0, 5.0 ]).reshape((1,2))
        g_new   = numpy.array([ 1.0, 1.5 ])
        lb_new  = numpy.array([ 0.0, -1.0 ])
        ub_new  = numpy.array([ 5.0, -0.5 ])
        lbA_new = numpy.array([ -2.0 ])
        ubA_new = numpy.array([ 1.0 ])

        x = numpy.array([0.5, -0.5])
        f = -1.875e-01

        # hack pattern generator
        gen.ori_H   = H_new
        gen.ori_A   = A_new
        gen.ori_g   = g_new
        gen.ori_lb  = lb_new
        gen.ori_ub  = ub_new
        gen.ori_lbA = lbA_new

        gen.pos_H   = H_new
        gen.pos_A   = A_new
        gen.pos_g   = g_new
        gen.pos_lb  = lb_new
        gen.pos_ub  = ub_new
        gen.pos_lbA = lbA_new

        # test qp warmstart
        gen._solve_qp()

        # get solution
        # NOTE post_process put entries into array that dont match anymore
        gen.pos_qp.getPrimalSolution(gen.pos_dofs)
        gen.ori_qp.getPrimalSolution(gen.ori_dofs)

        assert_allclose(gen.pos_dofs, x, rtol=RTOL, atol=ATOL)
        assert_allclose(gen.pos_qp.getObjVal(), f, rtol=RTOL, atol=ATOL)
        assert_allclose(gen.ori_dofs, x, rtol=RTOL, atol=ATOL)
        assert_allclose(gen.ori_qp.getObjVal(), f, rtol=RTOL, atol=ATOL)

# 需要導入模塊: from qpoases import PyOptions [as 別名]
# 或者: from qpoases.PyOptions import printLevel [as 別名]
# details.
#
# You should have received a copy of the GNU Lesser General Public License
# along with qpsolvers. If not, see <http://www.gnu.org/licenses/>.

from numpy import array, hstack, ones, vstack, zeros
from qpoases import PyOptions as Options
from qpoases import PyPrintLevel as PrintLevel
from qpoases import PyQProblem as QProblem
from qpoases import PyQProblemB as QProblemB
from qpoases import PyReturnValue as ReturnValue


__infty = 1e10
options = Options()
options.printLevel = PrintLevel.NONE


def qpoases_solve_qp(P, q, G=None, h=None, A=None, b=None, initvals=None,
                     max_wsr=1000):
    """
    Solve a Quadratic Program defined as:

        minimize
            (1/2) * x.T * P * x + q.T * x

        subject to
            G * x <= h
            A * x == b

    using qpOASES <https://projects.coin-or.org/qpOASES>.

# 需要導入模塊: from qpoases import PyOptions [as 別名]
# 或者: from qpoases.PyOptions import printLevel [as 別名]
    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)