add tree_{qp,qcqp}_ipm_get_obj

giaf · Aug 12, 2022 · 9fa4c1f · 9fa4c1f
1 parent 04152e3
commit 9fa4c1f
Show file tree

Hide file tree

Showing 15 changed files with 99 additions and 58 deletions.
diff --git a/include/hpipm_d_tree_ocp_qcqp_ipm.h b/include/hpipm_d_tree_ocp_qcqp_ipm.h
@@ -171,6 +171,8 @@ void d_tree_ocp_qcqp_ipm_get_max_res_ineq(struct d_tree_ocp_qcqp_ipm_ws *ws, dou
 //
 void d_tree_ocp_qcqp_ipm_get_max_res_comp(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_comp);
 //
+void d_tree_ocp_qcqp_ipm_get_obj(struct d_tree_ocp_qcqp_ipm_ws *ws, double *obj);
+//
 void d_tree_ocp_qcqp_ipm_get_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double **stat);
 //
 void d_tree_ocp_qcqp_ipm_get_stat_m(struct d_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);

diff --git a/include/hpipm_d_tree_ocp_qp_ipm.h b/include/hpipm_d_tree_ocp_qp_ipm.h
@@ -186,6 +186,8 @@ void d_tree_ocp_qp_ipm_get_max_res_ineq(struct d_tree_ocp_qp_ipm_ws *ws, double
 //
 void d_tree_ocp_qp_ipm_get_max_res_comp(struct d_tree_ocp_qp_ipm_ws *ws, double *res_comp);
 //
+void d_tree_ocp_qp_ipm_get_obj(struct d_tree_ocp_qp_ipm_ws *ws, double *obj);
+//
 void d_tree_ocp_qp_ipm_get_stat(struct d_tree_ocp_qp_ipm_ws *ws, double **stat);
 //
 void d_tree_ocp_qp_ipm_get_stat_m(struct d_tree_ocp_qp_ipm_ws *ws, int *stat_m);

diff --git a/include/hpipm_s_tree_ocp_qcqp_ipm.h b/include/hpipm_s_tree_ocp_qcqp_ipm.h
@@ -171,6 +171,8 @@ void s_tree_ocp_qcqp_ipm_get_max_res_ineq(struct s_tree_ocp_qcqp_ipm_ws *ws, flo
 //
 void s_tree_ocp_qcqp_ipm_get_max_res_comp(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_comp);
 //
+void s_tree_ocp_qcqp_ipm_get_obj(struct s_tree_ocp_qcqp_ipm_ws *ws, float *obj);
+//
 void s_tree_ocp_qcqp_ipm_get_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float **stat);
 //
 void s_tree_ocp_qcqp_ipm_get_stat_m(struct s_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);

diff --git a/include/hpipm_s_tree_ocp_qp_ipm.h b/include/hpipm_s_tree_ocp_qp_ipm.h
@@ -187,6 +187,8 @@ void s_tree_ocp_qp_ipm_get_max_res_ineq(struct s_tree_ocp_qp_ipm_ws *ws, float *
 //
 void s_tree_ocp_qp_ipm_get_max_res_comp(struct s_tree_ocp_qp_ipm_ws *ws, float *res_comp);
 //
+void s_tree_ocp_qp_ipm_get_obj(struct s_tree_ocp_qp_ipm_ws *ws, float *obj);
+//
 void s_tree_ocp_qp_ipm_get_stat(struct s_tree_ocp_qp_ipm_ws *ws, float **stat);
 //
 void s_tree_ocp_qp_ipm_get_stat_m(struct s_tree_ocp_qp_ipm_ws *ws, int *stat_m);

diff --git a/test_problems/test_d_cast_qcqp.c b/test_problems/test_d_cast_qcqp.c
@@ -64,7 +64,9 @@
 #define KEEP_X0 0
 
 // printing
+//#ifndef PRINT
 #define PRINT 0
+//#endif
 
 
 
@@ -710,7 +712,7 @@ int main()
 ************************************************/
 
 	hpipm_size_t dim_size = d_ocp_qcqp_dim_memsize(N);
-	printf("\ndim size = %d\n", dim_size);
+	printf("\ndim size = %ld\n", dim_size);
 	void *dim_mem = malloc(dim_size);
 
 	struct d_ocp_qcqp_dim dim;
@@ -733,7 +735,7 @@ int main()
 ************************************************/
 
 	hpipm_size_t qcqp_size = d_ocp_qcqp_memsize(&dim);
-	printf("\nqp size = %d\n", qcqp_size);
+	printf("\nqp size = %ld\n", qcqp_size);
 	void *qcqp_mem = malloc(qcqp_size);
 
 	struct d_ocp_qcqp qcqp;
@@ -825,7 +827,7 @@ int main()
 ************************************************/
 
 	hpipm_size_t dense_dim_size = d_dense_qcqp_dim_memsize();
-	printf("\ndense dim size = %d\n", dense_dim_size);
+	printf("\ndense dim size = %ld\n", dense_dim_size);
 	void *dense_dim_mem = malloc(dense_dim_size);
 
 	struct d_dense_qcqp_dim dense_dim;
@@ -841,7 +843,7 @@ int main()
 
 	// qp
 	hpipm_size_t dense_qp_size = d_dense_qcqp_memsize(&dense_dim);
-	printf("\nqp size = %d\n", dense_qp_size);
+	printf("\nqp size = %ld\n", dense_qp_size);
 	void *dense_qp_mem = malloc(dense_qp_size);
 
 	struct d_dense_qcqp dense_qp;
@@ -856,7 +858,7 @@ int main()
 ************************************************/
 
 	hpipm_size_t dense_qp_sol_size = d_dense_qcqp_sol_memsize(&dense_dim);
-	printf("\ndense qp sol size = %d\n", dense_qp_sol_size);
+	printf("\ndense qp sol size = %ld\n", dense_qp_sol_size);
 	void *dense_qp_sol_mem = malloc(dense_qp_sol_size);
 
 	struct d_dense_qcqp_sol dense_qp_sol;
@@ -867,7 +869,7 @@ int main()
 ************************************************/
 
 	hpipm_size_t ipm_arg_size = d_dense_qcqp_ipm_arg_memsize(&dense_dim);
-	printf("\nipm arg size = %d\n", ipm_arg_size);
+	printf("\nipm arg size = %ld\n", ipm_arg_size);
 	void *ipm_arg_mem = malloc(ipm_arg_size);
 
 	struct d_dense_qcqp_ipm_arg dense_arg;
@@ -889,7 +891,7 @@ int main()
 ************************************************/
 
 	hpipm_size_t dense_ipm_size = d_dense_qcqp_ipm_ws_memsize(&dense_dim, &dense_arg);
-	printf("\ndense ipm size = %d\n", dense_ipm_size);
+	printf("\ndense ipm size = %ld\n", dense_ipm_size);
 	void *dense_ipm_mem = malloc(dense_ipm_size);
 
 	struct d_dense_qcqp_ipm_ws dense_workspace;

diff --git a/test_problems/test_d_dense.c b/test_problems/test_d_dense.c
@@ -277,7 +277,7 @@ int main()
 
 	hpipm_size_t dense_qp_dim_size = d_dense_qp_dim_memsize();
 #if PRINT
-	printf("\nqp dim size = %d\n", dense_qp_dim_size);
+	printf("\nqp dim size = %ld\n", dense_qp_dim_size);
 #endif
 	void *qp_dim_mem = malloc(dense_qp_dim_size);
 
@@ -292,7 +292,7 @@ int main()
 
 	hpipm_size_t qp_size = d_dense_qp_memsize(&qp_dim);
 #if PRINT
-	printf("\nqp size = %d\n", qp_size);
+	printf("\nqp size = %ld\n", qp_size);
 #endif
 	void *qp_mem = malloc(qp_size);
 
@@ -353,7 +353,7 @@ int main()
 
 	hpipm_size_t qp_sol_size = d_dense_qp_sol_memsize(&qp_dim);
 #if PRINT
-	printf("\nqp sol size = %d\n", qp_sol_size);
+	printf("\nqp sol size = %ld\n", qp_sol_size);
 #endif
 	void *qp_sol_mem = malloc(qp_sol_size);
 
@@ -366,7 +366,7 @@ int main()
 
 	hpipm_size_t ipm_arg_size = d_dense_qp_ipm_arg_memsize(&qp_dim);
 #if PRINT
-	printf("\nipm arg size = %d\n", ipm_arg_size);
+	printf("\nipm arg size = %ld\n", ipm_arg_size);
 #endif
 	void *ipm_arg_mem = malloc(ipm_arg_size);
 
@@ -417,7 +417,7 @@ int main()
 
 	hpipm_size_t ipm_size = d_dense_qp_ipm_ws_memsize(&qp_dim, &arg);
 #if PRINT
-	printf("\nipm size = %d\n", ipm_size);
+	printf("\nipm size = %ld\n", ipm_size);
 #endif
 	void *ipm_mem = malloc(ipm_size);
 

diff --git a/test_problems/test_d_dense_qcqp.c b/test_problems/test_d_dense_qcqp.c
@@ -104,7 +104,7 @@ int main()
 
 	hpipm_size_t dense_qcqp_dim_size = d_dense_qcqp_dim_memsize();
 #if PRINT
-	printf("\nqp dim size = %d\n", dense_qcqp_dim_size);
+	printf("\nqp dim size = %ld\n", dense_qcqp_dim_size);
 #endif
 	void *qp_dim_mem = malloc(dense_qcqp_dim_size);
 
@@ -130,7 +130,7 @@ int main()
 
 	hpipm_size_t qp_size = d_dense_qcqp_memsize(&qcqp_dim);
 #if PRINT
-	printf("\nqp size = %d\n", qp_size);
+	printf("\nqp size = %ld\n", qp_size);
 #endif
 	void *qp_mem = malloc(qp_size);
 
@@ -168,7 +168,7 @@ int main()
 
 	hpipm_size_t qp_sol_size = d_dense_qcqp_sol_memsize(&qcqp_dim);
 #if PRINT
-	printf("\nqp sol size = %d\n", qp_sol_size);
+	printf("\nqp sol size = %ld\n", qp_sol_size);
 #endif
 	void *qp_sol_mem = malloc(qp_sol_size);
 
@@ -186,7 +186,7 @@ int main()
 
 	hpipm_size_t ipm_arg_size = d_dense_qcqp_ipm_arg_memsize(&qcqp_dim);
 #if PRINT
-	printf("\nipm arg size = %d\n", ipm_arg_size);
+	printf("\nipm arg size = %ld\n", ipm_arg_size);
 #endif
 	void *ipm_arg_mem = malloc(ipm_arg_size);
 
@@ -234,7 +234,7 @@ int main()
 
 	hpipm_size_t ipm_size = d_dense_qcqp_ipm_ws_memsize(&qcqp_dim, &arg);
 #if PRINT
-	printf("\nipm size = %d\n", ipm_size);
+	printf("\nipm size = %ld\n", ipm_size);
 #endif
 	void *ipm_mem = malloc(ipm_size);
 

diff --git a/test_problems/test_d_tree_ocp.c b/test_problems/test_d_tree_ocp.c
@@ -619,7 +619,7 @@ int main()
 
 	hpipm_size_t tree_memsize = sctree_memsize(md, Nr, Nh);
 #if PRINT
-	printf("\ntree memsize = %d\n", tree_memsize);
+	printf("\ntree memsize = %ld\n", tree_memsize);
 #endif
 	void *tree_memory = malloc(tree_memsize);
 
@@ -870,7 +870,7 @@ int main()
 
 	hpipm_size_t dim_size = d_tree_ocp_qp_dim_memsize(Nn);
 #if PRINT
-	printf("\ndim size = %d\n", dim_size);
+	printf("\ndim size = %ld\n", dim_size);
 #endif
 	void *dim_mem = malloc(dim_size);
 
@@ -884,7 +884,7 @@ int main()
 
 	hpipm_size_t tree_ocp_qp_memsize = d_tree_ocp_qp_memsize(&dim);
 #if PRINT
-	printf("\ntree ocp qp memsize = %d\n", tree_ocp_qp_memsize);
+	printf("\ntree ocp qp memsize = %ld\n", tree_ocp_qp_memsize);
 #endif
 	void *tree_ocp_qp_memory = malloc(tree_ocp_qp_memsize);
 
@@ -933,7 +933,7 @@ exit(1);
 
 	hpipm_size_t tree_ocp_qp_sol_size = d_tree_ocp_qp_sol_memsize(&dim);
 #if PRINT
-	printf("\ntree ocp qp sol memsize = %d\n", tree_ocp_qp_sol_size);
+	printf("\ntree ocp qp sol memsize = %ld\n", tree_ocp_qp_sol_size);
 #endif
 	void *tree_ocp_qp_sol_memory = malloc(tree_ocp_qp_sol_size);
 
@@ -946,7 +946,7 @@ exit(1);
 
 	hpipm_size_t ipm_arg_size = d_tree_ocp_qp_ipm_arg_memsize(&dim);
 #if PRINT
-	printf("\nipm arg size = %d\n", ipm_arg_size);
+	printf("\nipm arg size = %ld\n", ipm_arg_size);
 #endif
 	void *ipm_arg_mem = malloc(ipm_arg_size);
 
@@ -974,7 +974,7 @@ exit(1);
 
 	hpipm_size_t ipm_size = d_tree_ocp_qp_ipm_ws_memsize(&dim, &arg);
 #if PRINT
-	printf("\nipm size = %d\n", ipm_size);
+	printf("\nipm size = %ld\n", ipm_size);
 #endif
 	void *ipm_memory = malloc(ipm_size);
 
@@ -1106,7 +1106,7 @@ exit(1);
 	printf("\nipm residuals max: res_g = %e, res_b = %e, res_d = %e, res_m = %e\n", res_stat, res_eq, res_ineq, res_comp);
 
 	printf("\nipm iter = %d\n", iter);
-	printf("\nalpha_aff\tmu_aff\t\tsigma\t\talpha_prim\talpha_dual\tmu\t\tres_stat\tres_eq\t\tres_ineq\tres_comp\tlq fact\t\titref pred\titref corr\tlin res stat\tlin res eq\tlin res ineq\tlin res comp\n");
+	printf("\nalpha_aff\tmu_aff\t\tsigma\t\talpha_prim\talpha_dual\tmu\t\tres_stat\tres_eq\t\tres_ineq\tres_comp\tobj\t\tlq fact\t\titref pred\titref corr\tlin res stat\tlin res eq\tlin res ineq\tlin res comp\n");
 	d_print_exp_tran_mat(stat_m, iter+1, stat, stat_m);
 
 	printf("\nocp ipm time = %e [s]\n\n", time_ocp_ipm);

diff --git a/test_problems/test_d_tree_ocp_qcqp.c b/test_problems/test_d_tree_ocp_qcqp.c
@@ -709,7 +709,7 @@ int main()
 
 	hpipm_size_t tree_memsize = sctree_memsize(md, Nr, Nh);
 #if PRINT
-	printf("\ntree memsize = %d\n", tree_memsize);
+	printf("\ntree memsize = %ld\n", tree_memsize);
 #endif
 	void *tree_memory = malloc(tree_memsize);
 
@@ -940,7 +940,7 @@ int main()
 
 	hpipm_size_t dim_size = d_tree_ocp_qcqp_dim_memsize(Nn);
 #if PRINT
-	printf("\ndim size = %d\n", dim_size);
+	printf("\ndim size = %ld\n", dim_size);
 #endif
 	void *dim_mem = malloc(dim_size);
 
@@ -975,7 +975,7 @@ int main()
 
 	hpipm_size_t tree_ocp_qp_memsize = d_tree_ocp_qcqp_memsize(&dim);
 #if PRINT
-	printf("\ntree ocp qp memsize = %d\n", tree_ocp_qp_memsize);
+	printf("\ntree ocp qp memsize = %ld\n", tree_ocp_qp_memsize);
 #endif
 	void *tree_ocp_qp_memory = malloc(tree_ocp_qp_memsize);
 
@@ -1041,7 +1041,7 @@ int main()
 
 	hpipm_size_t tree_ocp_qp_sol_size = d_tree_ocp_qcqp_sol_memsize(&dim);
 #if PRINT
-	printf("\ntree ocp qp sol memsize = %d\n", tree_ocp_qp_sol_size);
+	printf("\ntree ocp qp sol memsize = %ld\n", tree_ocp_qp_sol_size);
 #endif
 	void *tree_ocp_qp_sol_memory = malloc(tree_ocp_qp_sol_size);
 
@@ -1054,7 +1054,7 @@ int main()
 
 	hpipm_size_t ipm_arg_size = d_tree_ocp_qcqp_ipm_arg_memsize(&dim);
 #if PRINT
-	printf("\nipm arg size = %d\n", ipm_arg_size);
+	printf("\nipm arg size = %ld\n", ipm_arg_size);
 #endif
 	void *ipm_arg_mem = malloc(ipm_arg_size);
 
@@ -1082,7 +1082,7 @@ int main()
 
 	hpipm_size_t ipm_size = d_tree_ocp_qcqp_ipm_ws_memsize(&dim, &arg);
 #if PRINT
-	printf("\nipm size = %d\n", ipm_size);
+	printf("\nipm size = %ld\n", ipm_size);
 #endif
 	void *ipm_memory = malloc(ipm_size);
 
@@ -1244,7 +1244,7 @@ int main()
 	printf("\nipm residuals max: res_g = %e, res_b = %e, res_d = %e, res_m = %e\n", res_stat, res_eq, res_ineq, res_comp);
 
 	printf("\nipm iter = %d\n", iter);
-	printf("\nalpha_aff\tmu_aff\t\tsigma\t\talpha_prim\talpha_dual\tmu\t\tres_stat\tres_eq\t\tres_ineq\tres_comp\tlq fact\t\titref pred\titref corr\tlin res stat\tlin res eq\tlin res ineq\tlin res comp\n");
+	printf("\nalpha_aff\tmu_aff\t\tsigma\t\talpha_prim\talpha_dual\tmu\t\tres_stat\tres_eq\t\tres_ineq\tres_comp\tobj\t\tlq fact\t\titref pred\titref corr\tlin res stat\tlin res eq\tlin res ineq\tlin res comp\n");
 	d_print_exp_tran_mat(stat_m, iter+1, stat, stat_m);
 
 	printf("\nocp ipm time = %e [s]\n\n", time_ocp_ipm);

diff --git a/tree_ocp_qp/d_tree_ocp_qcqp_ipm.c b/tree_ocp_qp/d_tree_ocp_qcqp_ipm.c
@@ -204,6 +204,7 @@
 #define TREE_OCP_QCQP_IPM_GET_MAX_RES_EQ d_tree_ocp_qcqp_ipm_get_max_res_eq
 #define TREE_OCP_QCQP_IPM_GET_MAX_RES_INEQ d_tree_ocp_qcqp_ipm_get_max_res_ineq
 #define TREE_OCP_QCQP_IPM_GET_MAX_RES_COMP d_tree_ocp_qcqp_ipm_get_max_res_comp
+#define TREE_OCP_QCQP_IPM_GET_OBJ d_tree_ocp_qcqp_ipm_get_obj
 #define TREE_OCP_QCQP_IPM_GET_STAT d_tree_ocp_qcqp_ipm_get_stat
 #define TREE_OCP_QCQP_IPM_GET_STAT_M d_tree_ocp_qcqp_ipm_get_stat_m
 #define TREE_OCP_QCQP_INIT_VAR d_tree_ocp_qcqp_init_var

diff --git a/tree_ocp_qp/d_tree_ocp_qp_ipm.c b/tree_ocp_qp/d_tree_ocp_qp_ipm.c
@@ -137,6 +137,7 @@
 #define TREE_OCP_QP_IPM_GET_MAX_RES_EQ d_tree_ocp_qp_ipm_get_max_res_eq
 #define TREE_OCP_QP_IPM_GET_MAX_RES_INEQ d_tree_ocp_qp_ipm_get_max_res_ineq
 #define TREE_OCP_QP_IPM_GET_MAX_RES_COMP d_tree_ocp_qp_ipm_get_max_res_comp
+#define TREE_OCP_QP_IPM_GET_OBJ d_tree_ocp_qp_ipm_get_obj
 #define TREE_OCP_QP_IPM_GET_STAT d_tree_ocp_qp_ipm_get_stat
 #define TREE_OCP_QP_IPM_GET_STAT_M d_tree_ocp_qp_ipm_get_stat_m
 #define TREE_OCP_QP_INIT_VAR d_tree_ocp_qp_init_var

diff --git a/tree_ocp_qp/s_tree_ocp_qcqp_ipm.c b/tree_ocp_qp/s_tree_ocp_qcqp_ipm.c
@@ -204,6 +204,7 @@
 #define TREE_OCP_QCQP_IPM_GET_MAX_RES_EQ s_tree_ocp_qcqp_ipm_get_max_res_eq
 #define TREE_OCP_QCQP_IPM_GET_MAX_RES_INEQ s_tree_ocp_qcqp_ipm_get_max_res_ineq
 #define TREE_OCP_QCQP_IPM_GET_MAX_RES_COMP s_tree_ocp_qcqp_ipm_get_max_res_comp
+#define TREE_OCP_QCQP_IPM_GET_OBJ s_tree_ocp_qcqp_ipm_get_obj
 #define TREE_OCP_QCQP_IPM_GET_STAT s_tree_ocp_qcqp_ipm_get_stat
 #define TREE_OCP_QCQP_IPM_GET_STAT_M s_tree_ocp_qcqp_ipm_get_stat_m
 #define TREE_OCP_QCQP_INIT_VAR s_tree_ocp_qcqp_init_var

diff --git a/tree_ocp_qp/s_tree_ocp_qp_ipm.c b/tree_ocp_qp/s_tree_ocp_qp_ipm.c
@@ -137,6 +137,7 @@
 #define TREE_OCP_QP_IPM_GET_MAX_RES_EQ s_tree_ocp_qp_ipm_get_max_res_eq
 #define TREE_OCP_QP_IPM_GET_MAX_RES_INEQ s_tree_ocp_qp_ipm_get_max_res_ineq
 #define TREE_OCP_QP_IPM_GET_MAX_RES_COMP s_tree_ocp_qp_ipm_get_max_res_comp
+#define TREE_OCP_QP_IPM_GET_OBJ s_tree_ocp_qp_ipm_get_obj
 #define TREE_OCP_QP_IPM_GET_STAT s_tree_ocp_qp_ipm_get_stat
 #define TREE_OCP_QP_IPM_GET_STAT_M s_tree_ocp_qp_ipm_get_stat_m
 #define TREE_OCP_QP_INIT_VAR s_tree_ocp_qp_init_var