Squashed 'third_party/osqp/' content from commit 33454b3e23
Change-Id: I056df0582ca06664e86554c341a94c47ab932001
git-subtree-dir: third_party/osqp
git-subtree-split: 33454b3e236f1f44193bfbbb6b8c8e71f8f04e9a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/examples/osqp_demo.c b/examples/osqp_demo.c
new file mode 100644
index 0000000..107f83e
--- /dev/null
+++ b/examples/osqp_demo.c
@@ -0,0 +1,58 @@
+#include "osqp.h"
+
+
+int main(int argc, char **argv) {
+ // Load problem data
+ c_float P_x[3] = { 4.0, 1.0, 2.0, };
+ c_int P_nnz = 3;
+ c_int P_i[3] = { 0, 0, 1, };
+ c_int P_p[3] = { 0, 1, 3, };
+ c_float q[2] = { 1.0, 1.0, };
+ c_float A_x[4] = { 1.0, 1.0, 1.0, 1.0, };
+ c_int A_nnz = 4;
+ c_int A_i[4] = { 0, 1, 0, 2, };
+ c_int A_p[3] = { 0, 2, 4, };
+ c_float l[3] = { 1.0, 0.0, 0.0, };
+ c_float u[3] = { 1.0, 0.7, 0.7, };
+ c_int n = 2;
+ c_int m = 3;
+
+ // Exitflag
+ c_int exitflag = 0;
+
+ // Workspace structures
+ OSQPWorkspace *work;
+ OSQPSettings *settings = (OSQPSettings *)c_malloc(sizeof(OSQPSettings));
+ OSQPData *data = (OSQPData *)c_malloc(sizeof(OSQPData));
+
+ // Populate data
+ if (data) {
+ data->n = n;
+ data->m = m;
+ data->P = csc_matrix(data->n, data->n, P_nnz, P_x, P_i, P_p);
+ data->q = q;
+ data->A = csc_matrix(data->m, data->n, A_nnz, A_x, A_i, A_p);
+ data->l = l;
+ data->u = u;
+ }
+
+ // Define solver settings as default
+ if (settings) osqp_set_default_settings(settings);
+
+ // Setup workspace
+ exitflag = osqp_setup(&work, data, settings);
+
+ // Solve Problem
+ osqp_solve(work);
+
+ // Clean workspace
+ osqp_cleanup(work);
+ if (data) {
+ if (data->A) c_free(data->A);
+ if (data->P) c_free(data->P);
+ c_free(data);
+ }
+ if (settings) c_free(settings);
+
+ return exitflag;
+}