Skip to content

Commit

Permalink
fix to test part cond
Browse files Browse the repository at this point in the history
  • Loading branch information
@giaf
giaf committed May 7, 2020
1 parent 5881b3c commit 9b3a855
Showing 1 changed file with 4 additions and 80 deletions.
84 changes: 4 additions & 80 deletions test_problems/test_d_part_cond.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,7 @@
#include <hpipm_d_ocp_qp.h>
#include <hpipm_d_ocp_qp_sol.h>
#include <hpipm_d_ocp_qp_ipm.h>
#include <hpipm_d_ocp_qp_utils.h>
#include <hpipm_d_part_cond.h>

#include "d_tools.h"
Expand Down Expand Up @@ -853,38 +854,7 @@ int main()

#if PRINT
printf("\npart cond data\n\n");
for(ii=0; ii<N2; ii++)
blasfeo_print_dmat(nu2[ii]+nx2[ii]+1, nx2[ii+1], part_dense_qp.BAbt+ii, 0, 0);
for(ii=0; ii<N2; ii++)
blasfeo_print_tran_dvec(nx2[ii+1], part_dense_qp.b+ii, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_dmat(nu2[ii]+nx2[ii]+1, nu2[ii]+nx2[ii], part_dense_qp.RSQrq+ii, 0, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(nu2[ii]+nx2[ii], part_dense_qp.rqz+ii, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(nb2[ii], part_dense_qp.d+ii, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(nb2[ii], part_dense_qp.d+ii, nb2[ii]+ng2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_dmat(nu2[ii]+nx2[ii], ng2[ii], part_dense_qp.DCt+ii, 0, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ng2[ii], part_dense_qp.d+ii, nb2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ng2[ii], part_dense_qp.d+ii, 2*nb2[ii]+ng2[ii]);
for(ii=0; ii<=N2; ii++)
int_print_mat(1, ns2[ii], part_dense_qp.idxs[ii], 1);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ns2[ii], part_dense_qp.d+ii, 2*nb2[ii]+2*ng2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ns2[ii], part_dense_qp.d+ii, 2*nb2[ii]+2*ng2[ii]+ns2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ns2[ii], part_dense_qp.Z+ii, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ns2[ii], part_dense_qp.Z+ii, ns2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ns2[ii], part_dense_qp.rqz+ii, nu2[ii]+nx2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ns2[ii], part_dense_qp.rqz+ii, nu2[ii]+nx2[ii]+ns2[ii]);
d_ocp_qp_print(&dim2, &part_dense_qp);
#endif

/* update part cond */
Expand All @@ -908,34 +878,7 @@ int main()

#if PRINT
printf("\nupdate part cond data\n\n");
for(ii=0; ii<N2; ii++)
blasfeo_print_dmat(nu2[ii]+nx2[ii]+1, nx2[ii+1], part_dense_qp.BAbt+ii, 0, 0);
for(ii=0; ii<N2; ii++)
blasfeo_print_tran_dvec(nx2[ii+1], part_dense_qp.b+ii, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_dmat(nu2[ii]+nx2[ii]+1, nu2[ii]+nx2[ii], part_dense_qp.RSQrq+ii, 0, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(nu2[ii]+nx2[ii], part_dense_qp.rqz+ii, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(nb2[ii], part_dense_qp.d+ii, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(nb2[ii], part_dense_qp.d+ii, nb2[ii]+ng2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_dmat(nu2[ii]+nx2[ii], ng2[ii], part_dense_qp.DCt+ii, 0, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ng2[ii], part_dense_qp.d+ii, nb2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ng2[ii], part_dense_qp.d+ii, 2*nb2[ii]+ng2[ii]);
for(ii=0; ii<=N2; ii++)
int_print_mat(1, ns2[ii], part_dense_qp.idxs[ii], 1);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ns2[ii], part_dense_qp.Z+ii, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ns2[ii], part_dense_qp.Z+ii, ns2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ns2[ii], part_dense_qp.rqz+ii, nu2[ii]+nx2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ns2[ii], part_dense_qp.rqz+ii, nu2[ii]+nx2[ii]+ns2[ii]);
d_ocp_qp_print(&dim2, &part_dense_qp);
#endif

/* cond rhs */
Expand All @@ -953,26 +896,7 @@ int main()

#if PRINT
printf("\npart cond rhs data\n\n");
for(ii=0; ii<N2; ii++)
blasfeo_print_tran_dvec(nx2[ii+1], part_dense_qp.b+ii, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(nu2[ii]+nx2[ii], part_dense_qp.rqz+ii, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(nb2[ii], part_dense_qp.d+ii, 0);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(nb2[ii], part_dense_qp.d+ii, nb2[ii]+ng2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ng2[ii], part_dense_qp.d+ii, nb2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ng2[ii], part_dense_qp.d+ii, 2*nb2[ii]+ng2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ns2[ii], part_dense_qp.d+ii, 2*nb2[ii]+2*ng2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ns2[ii], part_dense_qp.d+ii, 2*nb2[ii]+2*ng2[ii]+ns2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ns2[ii], part_dense_qp.rqz+ii, nu2[ii]+nx2[ii]);
for(ii=0; ii<=N2; ii++)
blasfeo_print_tran_dvec(ns2[ii], part_dense_qp.rqz+ii, nu2[ii]+nx2[ii]+ns2[ii]);
d_ocp_qp_print(&dim2, &part_dense_qp);
#endif

#if 0
Expand Down

0 comments on commit 9b3a855

Please sign in to comment.