1 | function output = callipqp(varargin) |
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2 | % Author Johan Löfberg |
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3 | % $Id: callipqp.m,v 1.2 2004/06/30 07:37:03 johanl Exp $ |
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4 | |
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5 | |
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6 | % Retrieve needed data |
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7 | interfacedata = varargin{1}; |
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8 | options = interfacedata.options; |
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9 | F_struc = interfacedata.F_struc; |
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10 | c = interfacedata.c; |
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11 | K = interfacedata.K; |
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12 | x0 = interfacedata.x0; |
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13 | Q = 2*interfacedata.Q; |
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14 | ub = interfacedata.ub; |
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15 | lb = interfacedata.lb; |
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16 | |
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17 | |
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18 | showprogress('Calling IPQP',options.showprogress); |
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19 | |
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20 | if K.f>0 |
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21 | A = -F_struc(1:K.f,2:end); |
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22 | b = F_struc(1:K.f,1); |
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23 | else |
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24 | A = []; |
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25 | b = []; |
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26 | end |
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27 | |
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28 | if K.l>0 |
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29 | C = -F_struc(1+K.f:K.f+K.l,2:end); |
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30 | d = F_struc(1+K.f:K.f+K.l,1); |
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31 | else |
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32 | C = []; |
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33 | d = []; |
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34 | end |
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35 | |
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36 | if ~isempty(ub) |
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37 | C = [C;eye(length(c))]; |
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38 | d = [d;ub]; |
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39 | end |
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40 | if ~isempty(lb) |
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41 | C = [C;-eye(length(c))]; |
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42 | d = [d;-lb]; |
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43 | end |
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44 | |
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45 | solvertime = clock; |
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46 | [x,problem] = ipqp(2*Q,c,C,d,A,b); |
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47 | solvertime = etime(clock,solvertime); |
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48 | |
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49 | % Internal format for duals |
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50 | D_struc = []; |
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51 | |
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52 | switch problem |
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53 | case 0 |
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54 | problem = 0; |
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55 | infostr = yalmiperror(problem,'IPQP'); |
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56 | case 1 |
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57 | problem = 1; |
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58 | infostr = yalmiperror(problem,'IPQP'); |
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59 | otherwise |
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60 | |
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61 | problem = 2; |
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62 | infostr = yalmiperror(problem,'IPQP'); |
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63 | end |
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64 | |
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65 | % Save all data sent to solver? |
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66 | if options.savesolverinput |
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67 | % solverinput.A = A; |
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68 | % solverinput.b = b; |
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69 | % solverinput.C = Aq; |
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70 | % solverinput.q = beq; |
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71 | % solverinput.c = c; |
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72 | % solverinput.H = Q; |
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73 | % solverinput.options = options.nag; |
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74 | else |
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75 | solverinput = []; |
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76 | end |
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77 | |
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78 | % Save all data from the solver? |
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79 | if options.savesolveroutput |
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80 | % solveroutput.x = x; |
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81 | % solveroutput.fmin = fmin; |
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82 | % solveroutput.flag = flag; |
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83 | % solveroutput.output=output; |
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84 | % solveroutput.lambda=lambda; |
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85 | else |
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86 | solveroutput = []; |
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87 | end |
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88 | |
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89 | |
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90 | |
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91 | % Standard interface |
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92 | output.x = x; |
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93 | output.problem = problem; |
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94 | output.infostr = infostr; |
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95 | output.solverinput = solverinput; |
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96 | output.solveroutput= solveroutput; |
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97 | output.solvertime = solvertime; |
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98 | output.D_struc = D_struc; |
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