Visual Servoing Platform version 3.5.0
quadprog.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Example of sequential calls to QP solver
33 *
34 * Authors:
35 * Olivier Kermorgant
36 *
37 *****************************************************************************/
50#include <iostream>
51#include <visp3/core/vpConfig.h>
52
53#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && defined(VISP_HAVE_LAPACK)
54
55#include <visp3/core/vpQuadProg.h>
56#include <visp3/core/vpTime.h>
57
58#include "qp_plot.h"
59
60int main (int argc, char **argv)
61{
62 const int n = 20; // x dim
63 const int m = 10; // equality m < n
64 const int p = 30; // inequality
65 const int o = 16; // cost function
66#ifdef VISP_HAVE_DISPLAY
67 bool opt_display = true;
68 bool opt_click_allowed = true;
69#endif
70
71 for (int i = 0; i < argc; i++) {
72#ifdef VISP_HAVE_DISPLAY
73 if (std::string(argv[i]) == "-d")
74 opt_display = false;
75 else if (std::string(argv[i]) == "-c")
76 opt_click_allowed = false;
77 else
78#endif
79 if (std::string(argv[i]) == "-h" || std::string(argv[i]) == "--help") {
80 std::cout << "\nUsage: " << argv[0] << " [-d] [-c] [-h] [--help]" << std::endl;
81 std::cout << "\nOptions: \n"
82#ifdef VISP_HAVE_DISPLAY
83 " -d \n"
84 " Disable the image display. This can be useful \n"
85 " for automatic tests using crontab under Unix or \n"
86 " using the task manager under Windows.\n"
87 "\n"
88 " -c \n"
89 " Disable the mouse click. Useful to automate the \n"
90 " execution of this program without humain intervention.\n"
91 "\n"
92#endif
93 " -h, --help\n"
94 " Print the help.\n"<< std::endl;
95
96 return EXIT_SUCCESS;
97 }
98 }
99 std::srand((long) vpTime::measureTimeMs());
100
101 vpMatrix A, Q, C;
102 vpColVector b, d, r;
103
104 A = randM(m,n)*5;
105 b = randV(m)*5;
106 Q = randM(o,n)*5;
107 r = randV(o)*5;
108 C = randM(p,n)*5;
109
110 // make sure Cx <= d has a solution within Ax = b
111 vpColVector x = A.solveBySVD(b);
112 d = C*x;
113 for(int i = 0; i < p; ++i)
114 d[i] += (5.*rand())/RAND_MAX;
115
116 // solver with warm start
117 vpQuadProg qp_WS;
118
119 // timing
120 int total = 100;
121 double t_WS(0), t_noWS(0);
122 const double eps = 1e-2;
123
124#ifdef VISP_HAVE_DISPLAY
125 QPlot *plot = NULL;
126 if (opt_display)
127 plot = new QPlot(1, total, {"time to solveQP", "warm start"});
128#endif
129
130 for(int k = 0; k < total; ++k)
131 {
132 // reset active set at some point
133 if(k == total/2)
134 qp_WS.resetActiveSet();
135
136 // small change on QP data
137 Q += eps * randM(o,n);
138 r += eps * randV(o);
139 A += eps * randM(m,n);
140 b += eps * randV(m);
141 C += eps * randM(p,n);
142 d += eps * randV(p);
143
144 // solver without warm start
145 vpQuadProg qp;
146 x = 0;
147 double t = vpTime::measureTimeMs();
148 qp.solveQP(Q, r, A, b, C, d, x);
149
150 t_noWS += vpTime::measureTimeMs() - t;
151#ifdef VISP_HAVE_DISPLAY
152 if (opt_display)
153 plot->plot(0,0,k,t);
154#endif
155
156 // with warm start
157 x = 0;
159 qp_WS.solveQP(Q, r, A, b, C, d, x);
160
161 t_WS += vpTime::measureTimeMs() - t;
162#ifdef VISP_HAVE_DISPLAY
163 if (opt_display)
164 plot->plot(0, 1, k, t);
165#endif
166 }
167
168 std::cout.precision(3);
169 std::cout << "Warm start: t = " << t_WS << " ms (for 1 QP = " << t_WS/total << " ms)\n";
170 std::cout << "No warm start: t = " << t_noWS << " ms (for 1 QP = " << t_noWS/total << " ms)" << std::endl;
171
172#ifdef VISP_HAVE_DISPLAY
173 if (opt_display) {
174 if (opt_click_allowed) {
175 std::cout << "Click in the graph to exit..." << std::endl;
176 plot->wait();
177 }
178 delete plot;
179 }
180#endif
181 return EXIT_SUCCESS;
182}
183#elif !(VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
184int main()
185{
186 std::cout << "You did not build ViSP with c++11 or higher compiler flag" << std::endl;
187 std::cout << "Tip:" << std::endl;
188 std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
189 return EXIT_SUCCESS;
190}
191#else
192int main()
193{
194 std::cout << "You did not build ViSP with Lapack support" << std::endl;
195 return EXIT_SUCCESS;
196}
197#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
void solveBySVD(const vpColVector &B, vpColVector &x) const
Definition: vpMatrix.cpp:1908
This class provides a solver for Quadratic Programs.
Definition: vpQuadProg.h:75
bool solveQP(const vpMatrix &Q, const vpColVector &r, vpMatrix A, vpColVector b, const vpMatrix &C, const vpColVector &d, vpColVector &x, const double &tol=1e-6)
Definition: vpQuadProg.cpp:373
void resetActiveSet()
Definition: vpQuadProg.h:101
VISP_EXPORT double measureTimeMs()