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Adding some basic printing #37

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Adding some basic printing #37

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2b3a376
adding getting_started.c
zanellia Jul 19, 2018
44860c8
fix Makefile.rule
zanellia Jul 19, 2018
70c0ced
adding print level field to args, retabbing
zanellia Jul 19, 2018
c652c27
adding print level field to args for ocp_qp too, retabbing
zanellia Jul 19, 2018
9325e9a
added basic printing
zanellia Jul 19, 2018
3436b2a
resolved conflict on getting_started.c with --ours
zanellia Jul 30, 2018
879900e
adding printing for absolute formulation
zanellia Jul 30, 2018
b3113e6
added printing for dense abs
zanellia Jul 30, 2018
a8a10af
retabbing x_ocp_qp_ipm.c
zanellia Jul 30, 2018
37671fe
retabbing x_dense_qp_ipm.c
zanellia Jul 30, 2018
de0a1b6
retabbing hpipm_d_dense_qp_ipm.h
zanellia Jul 30, 2018
c29c1c7
Revert "retabbing hpipm_d_dense_qp_ipm.h"
zanellia Jul 30, 2018
85b2d75
Revert "retabbing x_dense_qp_ipm.c"
zanellia Jul 30, 2018
6af3b74
Revert "adding print level field to args for ocp_qp too, retabbing"
zanellia Jul 30, 2018
c5fe952
Revert "adding print level field to args, retabbing"
zanellia Jul 30, 2018
a424987
readded print level after reverting
zanellia Jul 30, 2018
20e1f63
merging with blessed/master
zanellia Jul 30, 2018
1117f5c
merged with blessed/master
zanellia Jul 31, 2018
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117 changes: 84 additions & 33 deletions dense_qp/x_dense_qp_ipm.c
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,10 @@ void CREATE_DENSE_QP_IPM_ARG(struct DENSE_QP_DIM *dim, struct DENSE_QP_IPM_ARG *
void SET_DEFAULT_DENSE_QP_IPM_ARG(enum HPIPM_MODE mode, struct DENSE_QP_IPM_ARG *arg)
{

// set common default arguments
arg->print_level = 0;

// set mode-specific default arguments
if(mode==SPEED_ABS)
{
arg->mu0 = 1e1;
Expand Down Expand Up @@ -683,29 +687,53 @@ int SOLVE_DENSE_QP_IPM(struct DENSE_QP *qp, struct DENSE_QP_SOL *qp_sol, struct
VECNRM_INF(cws->ne, &str_res_b, 0, &qp_res[1]);
VECNRM_INF(cws->nc, &str_res_d, 0, &qp_res[2]);
VECNRM_INF(cws->nc, &str_res_m, 0, &qp_res[3]);
if(arg->print_level > 0)
{
if(kk%10 == 0)
{
printf("=======================================================================================================\n");
printf("it. # res_g res_b res_d res_m alpha mu \n");
printf("=======================================================================================================\n");
}
printf("%-10d %-15e %-15e %-15e %-15e %-15e %-15e\n", kk, qp_res[0], qp_res[1], qp_res[2], qp_res[3], cws->alpha, cws->mu);
}
}

ws->iter = kk;

// max iteration number reached
if(kk == arg->iter_max)
return 1;

// min step lenght
if(cws->alpha <= arg->alpha_min)
return 2;
// max iteration number reached
if(kk == arg->iter_max) {
if (arg->print_level > 0)
printf(" \n -> ERROR: maximum number of iterations reached, exiting.\n\n");
return 1;
}

// min step lenght
if(cws->alpha <= arg->alpha_min) {
if (arg->print_level > 0)
printf(" \n -> ERROR: minimum step size reached, exiting.\n\n");
return 2;
}

// NaN in the solution
#ifdef USE_C99_MATH
if(isnan(cws->mu)) {
if (arg->print_level > 0)
printf(" \n -> ERROR: NaN detected, exiting.\n\n");
return 3;
}
#else
if(cws->mu != cws->mu) {
if (arg->print_level > 0)
printf(" \n -> ERROR: NaN detected, exiting.\n\n");
return 3;
}
#endif

// NaN in the solution
#ifdef USE_C99_MATH
if(isnan(cws->mu))
return 3;
#else
if(cws->mu != cws->mu)
return 3;
#endif

// normal return
return 0;
// normal return
if (arg->print_level > 0)
printf(" \n -> SOLUTION FOUND. \n\n");
return 0;

}

Expand Down Expand Up @@ -1044,6 +1072,15 @@ blasfeo_print_tran_dvec(cws->nc, ws->sol_step->t, 0);
VECNRM_INF(cws->nc, &str_res_d, 0, &qp_res[2]);
VECNRM_INF(cws->nc, &str_res_m, 0, &qp_res[3]);

if(arg->print_level > 0){
if(kk%10 == 0){
printf("=======================================================================================================\n");
printf("it. # res_g res_b res_d res_m alpha mu \n");
printf("=======================================================================================================\n");
}
printf("%-10d %-15e %-15e %-15e %-15e %-15e %-15e\n", kk, qp_res[0], qp_res[1], qp_res[2], qp_res[3], cws->alpha, cws->mu);
}

#if 0
printf("%e %e %e\n", cws->alpha, cws->alpha_prim, cws->alpha_dual);
#endif
Expand All @@ -1064,25 +1101,39 @@ printf("iter %3d alpha %1.3e %1.3e sigma %1.3e ndp %3d %3d itref %d %d

ws->iter = kk;

// max iteration number reached
if(kk == arg->iter_max)
return 1;

// min step lenght
if(cws->alpha <= arg->alpha_min)
return 2;

// NaN in the solution
// max iteration number reached
if(kk == arg->iter_max) {
if (arg->print_level > 0)
printf(" \n -> ERROR: maximum number of iterations reached, exiting.\n\n");
return 1;
}

// min step lenght
if(cws->alpha <= arg->alpha_min) {
if (arg->print_level > 0)
printf(" \n -> ERROR: minimum step size reached, exiting.\n\n");
return 2;
}

// NaN in the solution
#ifdef USE_C99_MATH
if(isnan(cws->mu))
return 3;
if(isnan(cws->mu)) {
if (arg->print_level > 0)
printf(" \n -> ERROR: NaN detected, exiting.\n\n");
return 3;
}
#else
if(cws->mu != cws->mu)
return 3;
if(cws->mu != cws->mu) {
if (arg->print_level > 0)
printf(" \n -> ERROR: NaN detected, exiting.\n\n");
return 3;
}
#endif

// normal return
return 0;
// normal return
if (arg->print_level > 0)
printf(" \n -> SOLUTION FOUND. \n\n");
return 0;

}

Expand Down
1 change: 1 addition & 0 deletions include/hpipm_d_dense_qp_ipm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,7 @@ struct d_dense_qp_ipm_arg
int abs_form; // absolute IPM formulation
int comp_res_exit; // compute residuals on exit (only for abs_form==1)
int memsize;
int print_level;
};


Expand Down
1 change: 1 addition & 0 deletions include/hpipm_d_ocp_qp_ipm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,7 @@ struct d_ocp_qp_ipm_arg
int comp_dual_sol; // dual solution (only for abs_form==1)
int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1)
int memsize;
int print_level;
};


Expand Down
1 change: 1 addition & 0 deletions include/hpipm_s_dense_qp_ipm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,7 @@ struct s_dense_qp_ipm_arg
int abs_form; // absolute IPM formulation
int comp_res_exit; // compute residuals on exit (only for abs_form==1)
int memsize;
int print_level;
};


Expand Down
1 change: 1 addition & 0 deletions include/hpipm_s_ocp_qp_ipm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,7 @@ struct s_ocp_qp_ipm_arg
int comp_dual_sol; // dual solution (only for abs_form==1)
int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1)
int memsize;
int print_level;
};


Expand Down
101 changes: 76 additions & 25 deletions ocp_qp/x_ocp_qp_ipm.c
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,10 @@ void CREATE_OCP_QP_IPM_ARG(struct OCP_QP_DIM *dim, struct OCP_QP_IPM_ARG *arg, v
void SET_DEFAULT_OCP_QP_IPM_ARG(enum HPIPM_MODE mode, struct OCP_QP_IPM_ARG *arg)
{

// set common default arguments
arg->print_level = 1;

// set mode-specific default arguments
if(mode==SPEED_ABS)
{
arg->mu0 = 1e1;
Expand Down Expand Up @@ -970,29 +974,54 @@ int SOLVE_OCP_QP_IPM(struct OCP_QP *qp, struct OCP_QP_SOL *qp_sol, struct OCP_QP
VECNRM_INF(cws->ne, &str_res_b, 0, &qp_res[1]);
VECNRM_INF(cws->nc, &str_res_d, 0, &qp_res[2]);
VECNRM_INF(cws->nc, &str_res_m, 0, &qp_res[3]);

if(arg->print_level > 0)
{
if(kk%10 == 0)
{
printf("=======================================================================================================\n");
printf("it. # res_g res_b res_d res_m alpha mu \n");
printf("=======================================================================================================\n");
}
printf("%-10d %-15e %-15e %-15e %-15e %-15e %-15e\n", kk, qp_res[0], qp_res[1], qp_res[2], qp_res[3], cws->alpha, cws->mu);
}
}

ws->iter = kk;

// max iteration number reached
if(kk == arg->iter_max)
return 1;

// min step lenght
if(cws->alpha <= arg->alpha_min)
return 2;

// NaN in the solution
#ifdef USE_C99_MATH
if(isnan(cws->mu))
return 3;
#else
if(cws->mu != cws->mu)
return 3;
#endif
// max iteration number reached
if(kk == arg->iter_max) {
if (arg->print_level > 0)
printf(" \n -> ERROR: maximum number of iterations reached, exiting.\n\n");
return 1;
}

// min step lenght
if(cws->alpha <= arg->alpha_min) {
if (arg->print_level > 0)
printf(" \n -> ERROR: minimum step size reached, exiting.\n\n");
return 2;
}

// NaN in the solution
#ifdef USE_C99_MATH
if(isnan(cws->mu)) {
if (arg->print_level > 0)
printf(" \n -> ERROR: NaN detected, exiting.\n\n");
return 3;
}
#else
if(cws->mu != cws->mu) {
if (arg->print_level > 0)
printf(" \n -> ERROR: NaN detected, exiting.\n\n");
return 3;
}
#endif

// normal return
return 0;
// normal return
if (arg->print_level > 0)
printf(" \n -> SOLUTION FOUND. \n\n");
return 0;

}

Expand All @@ -1009,7 +1038,7 @@ int SOLVE_OCP_QP_IPM(struct OCP_QP *qp, struct OCP_QP_SOL *qp_sol, struct OCP_QP
VECNRM_INF(cws->nc, &str_res_d, 0, &qp_res[2]);
VECNRM_INF(cws->nc, &str_res_m, 0, &qp_res[3]);

//printf("\niter %d\t%e\t%e\t%e\t%e\n", -1, qp_res[0], qp_res[1], qp_res[2], qp_res[3]);
// printf("\niter %d\t%e\t%e\t%e\t%e\n", -1, qp_res[0], qp_res[1], qp_res[2], qp_res[3]);

REAL itref_qp_norm[4] = {0,0,0,0};
REAL itref_qp_norm0[4] = {0,0,0,0};
Expand Down Expand Up @@ -1420,8 +1449,16 @@ exit(1);
VECNRM_INF(cws->nc, &str_res_d, 0, &qp_res[2]);
VECNRM_INF(cws->nc, &str_res_m, 0, &qp_res[3]);

//printf("\niter %d\t%e\t%e\t%e\t%e\n", kk, qp_res[0], qp_res[1], qp_res[2], qp_res[3]);

if(arg->print_level > 0)
{
if(kk%10 == 0)
{
printf("=======================================================================================================\n");
printf("it. # res_g res_b res_d res_m alpha mu \n");
printf("=======================================================================================================\n");
}
printf("%-10d %-15e %-15e %-15e %-15e %-15e %-15e\n", kk, qp_res[0], qp_res[1], qp_res[2], qp_res[3], cws->alpha, cws->mu);
}
}

ws->iter = kk;
Expand All @@ -1433,23 +1470,37 @@ exit(1);
#endif

// max iteration number reached
if(kk == arg->iter_max)
if(kk == arg->iter_max) {
if (arg->print_level > 0)
printf(" \n -> ERROR: maximum number of iterations reached, exiting.\n\n");
return 1;
}

// min step lenght
if(cws->alpha <= arg->alpha_min)
if(cws->alpha <= arg->alpha_min) {
if (arg->print_level > 0)
printf(" \n -> ERROR: minimum step size reached, exiting.\n\n");
return 2;
}

// NaN in the solution
#ifdef USE_C99_MATH
if(isnan(cws->mu))
if(isnan(cws->mu)) {
if (arg->print_level > 0)
printf(" \n -> ERROR: NaN detected, exiting.\n\n");
return 3;
}
#else
if(cws->mu != cws->mu)
if(cws->mu != cws->mu) {
if (arg->print_level > 0)
printf(" \n -> ERROR: NaN detected, exiting.\n\n");
return 3;
}
#endif

// normal return
if (arg->print_level > 0)
printf(" \n -> SOLUTION FOUND. \n\n");
return 0;

}
Expand Down