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updating qp program to work with the new version of osqp traits

This commit is contained in:
Dmitry Anisimov 2021-06-11 11:25:16 +02:00
parent 554719e0dc
commit 47c69de5ec
1 changed files with 5 additions and 13 deletions
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18
Shape_regularization/include/CGAL/Shape_regularization/QP_regularization.h
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@ -183,13 +183,11 @@ namespace Shape_regularization {
}
// QP data.
set_qp_data(
m_quadratic_program);
set_qp_data(m_quadratic_program);
// Solve.
std::vector<FT> solution;
solve_quadratic_program(
m_quadratic_program, solution);
solve_quadratic_program(m_quadratic_program, solution);
if (solution.size() != m_input_range.size() + m_targets.size()) {
std::cerr << "Error: the number of solution values is not equal to the " <<
"number of input segments + the number of edges in the graph!" << std::endl;
@ -298,14 +296,14 @@ namespace Shape_regularization {
CGAL_assertion(m_targets.size() >= 0);
}
void set_qp_data(
Quadratic_program& qp) const {
void set_qp_data(Quadratic_program& qp) const {
const std::size_t k = m_input_range.size(); // k segments
const std::size_t e = m_targets.size(); // e graph edges
const std::size_t n = k + e; // number of variables
const std::size_t m = 2 * e + n; // number of constraints
qp.resize(n, m);
set_quadratic_term(n, k, qp);
set_linear_term(n, k, qp);
set_constant_term(qp);
@ -318,7 +316,6 @@ namespace Shape_regularization {
const std::size_t k,
Quadratic_program& qp) const {
qp.reserve_P(n);
for (std::size_t i = 0; i < n; ++i) {
FT value = FT(0);
if (i < k) {
@ -335,7 +332,6 @@ namespace Shape_regularization {
const std::size_t k,
Quadratic_program& qp) const {
qp.reserve_q(n);
for (std::size_t i = 0; i < n; ++i) {
FT value = FT(0);
if (i >= k) {
@ -363,8 +359,6 @@ namespace Shape_regularization {
std::size_t it = 0;
std::size_t ij = k;
const std::size_t A_nnz = m_targets.size() * 6 + n;
qp.reserve_A(A_nnz);
for (const auto& target : m_targets) {
const std::size_t i = target.first.first;
const std::size_t j = target.first.second;
@ -386,6 +380,7 @@ namespace Shape_regularization {
qp.set_A(s + i, i, FT(1));
}
// const std::size_t A_nnz = m_targets.size() * 6 + n;
// CGAL_assertion(qp.A_size() == A_nnz);
}
@ -395,9 +390,6 @@ namespace Shape_regularization {
const std::size_t e,
Quadratic_program& qp) const {
qp.reserve_l(m);
qp.reserve_u(m);
auto tit = m_targets.begin();
for (std::size_t i = 0; i < m; ++i) {
if (i < 2 * e) { // first 2 * e constraints