robin-karlsson0/osqp_cpp_interface

Native C++ interface for the OSQP solver

osqp_cpp_interface

Native C++ interface for the OSQP solver

Setup the repository

1. Clone from Gitlab

2. Add the following folder structure

• osqp_cpp_interface/lib/osqp/lib
• osqp_cpp_interface/lib/osqp/include
• osqp_cpp_interface/build

Install OSQP by building from souce

https://osqp.org/docs/get_started/sources.html

Following these instructions will provide the following library file and include files.

• osqp/build/out/libosqp.a
• osqp/include

The library file 'libosqp.a' together with the 'include' files will be used to run the solver.

1. Copy 'libosqp.a' from 'osqp' to the 'osqp_test' repository

osqp_cpp_interface/lib/osqp/lib/

2. Copy the 'include' files from 'osqp' to the 'osqp_test' repository

osqp_cpp_interface/lib/osqp/include/

Build the test programs

Starting in the root:

1. cd build
2. cmake ../
3. make all

Run the test programs

Starting in build/ directory:

• ./osqp_cpp_interface
• ./runTests

Successfully running 'osqp_cpp_interface' will provide the following output

---

       OSQP v0.6.0  -  Operator Splitting QP Solver
          (c) Bartolomeo Stellato,  Goran Banjac
    University of Oxford  -  Stanford University 2019

---

problem: variables n = 2, constraints m = 3 nnz(P) + nnz(A) = 9 settings: linear system solver = qdldl, eps_abs = 1.0e-03, eps_rel = 1.0e-03, eps_prim_inf = 1.0e-04, eps_dual_inf = 1.0e-04, rho = 1.00e-01 (adaptive), sigma = 1.00e-06, alpha = 1.00, max_iter = 4000 check_termination: on (interval 25), scaling: on, scaled_termination: off warm start: on, polish: off, time_limit: off

iter objective pri res dua res rho time 1 -9.3904e+00 3.61e-01 3.18e+00 1.00e-01 6.83e-05s 25 -8.2241e+00 3.08e-03 1.12e-03 1.00e-01 1.12e-04s

status: solved number of iterations: 25 optimal objective: -8.2241 run time: 1.30e-04s optimal rho estimate: 2.03e-01

0.668395 1.33266