#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; }