main.c

#include <stdlib.h>
#include <stdio.h>
#include "osqp.h"

c_float P_x[] = {10.74980,1.07498,41.62331,0.11891,5.80636,0.58064,3.13259,0.31326,41.62331,41.62331,41.62331,41.62331,41.62331,41.62331,0.11891,11.49095,1.14910,3.13259,0.31326,41.62331,41.62331,41.62331,41.62331,41.62331,41.62331,0.11891,11.49095,1.14910,3.13259,0.31326,41.62331,41.62331,41.62331,41.62331,41.62331,41.62331,0.11891,11.49095,1.14910,50.00000,41.62331,41.62331,41.62331,41.62331,10.40583,10.74980,10.74980,1.07498,1.07498,50.00000,3.13259,3.13259,0.31326,0.31326,50.00000,41.62331,41.62331,50.00000,41.62331,41.62331,41.62331,25.00000,5.80636,0.58064,41.62331,41.62331,41.62331,41.62331,41.62331,41.62331,50.00000,3.13259,3.13259,0.31326,0.31326,50.00000,41.62331,41.62331,50.00000,41.62331,41.62331,41.62331,25.00000,5.80636,0.58064,41.62331,41.62331,41.62331,41.62331,41.62331,41.62331,50.00000,3.13259,3.13259,0.31326,0.31326,50.00000,41.62331,41.62331,50.00000,41.62331,41.62331,41.62331,25.00000,5.80636,0.58064,41.62331,41.62331,41.62331,41.62331,41.62331,41.62331,41.62331,0.19531,10.40583,10.40583,0.19531,41.62331,41.62331,0.19531,41.62331,41.62331,0.19531,41.62331,41.62331,0.19531,41.62331,41.62331,0.19531,41.62331,41.62331,0.19531,41.62331,41.62331};
c_int P_i[] = {1,2,4,5,6,7,9,10,12,14,16,18,20,22,23,24,25,27,28,30,32,34,36,38,40,41,42,43,45,46,48,50,52,54,56,58,59,60,61,62,63,65,67,69,71,1,73,2,74,75,9,76,10,77,78,12,79,80,14,81,83,84,85,86,88,90,92,94,20,96,97,27,98,28,99,100,30,101,102,32,103,105,106,107,108,110,112,114,116,38,118,119,45,120,46,121,122,48,123,124,50,125,127,128,129,130,132,134,136,63,138,56,140,141,71,142,143,16,144,145,22,146,147,34,148,149,40,150,151,52,152,153,58,154};
c_int P_p[] = {0,0,1,2,2,3,4,5,6,6,7,8,8,9,9,10,10,11,11,12,12,13,13,14,15,16,17,17,18,19,19,20,20,21,21,22,22,23,23,24,24,25,26,27,28,28,29,30,30,31,31,32,32,33,33,34,34,35,35,36,37,38,39,40,41,41,42,42,43,43,44,44,45,45,47,49,50,52,54,55,57,58,60,60,61,62,63,64,64,65,65,66,66,67,67,68,68,70,71,73,75,76,78,79,81,81,82,83,84,85,85,86,86,87,87,88,88,89,89,91,92,94,96,97,99,100,102,102,103,104,105,106,106,107,107,108,108,109,109,111,111,113,114,116,117,119,120,122,123,125,126,128,129,131,132,134};
c_int P_nnz = 134;
c_float A_x[] = {1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000,1.00000,1.00000,1.00000,-1.00000,1.00000,1.00000};
c_int A_i[] = {0,3,34,96,96,197,96,166,177,1,3,34,97,97,199,2,3,34,98,98,200,98,167,179,4,9,34,99,99,201,99,168,180,5,9,34,100,100,203,6,9,34,101,101,205,7,9,34,102,102,207,8,9,34,103,103,209,10,13,34,104,104,216,11,13,34,105,105,218,12,13,34,106,106,220,106,170,183,14,19,34,107,107,221,107,171,184,15,19,34,108,108,223,16,19,34,109,109,225,17,19,34,110,110,227,18,19,34,111,111,229,20,23,34,112,112,236,21,23,34,113,113,238,22,23,34,114,114,240,114,173,187,24,29,34,115,115,241,115,174,188,25,29,34,116,116,243,26,29,34,117,117,245,27,29,34,118,118,247,28,29,34,119,119,249,30,33,34,120,120,257,31,33,34,121,121,259,32,33,34,122,122,261,122,176,191,35,36,37,123,123,255,38,43,80,124,124,192,39,43,80,125,125,193,40,43,80,126,126,194,41,43,80,127,127,195,42,43,80,128,128,198,128,166,178,44,49,80,129,129,202,129,168,181,45,49,80,130,130,204,46,49,80,131,131,206,47,49,80,132,132,210,48,49,80,133,133,211,133,169,182,50,55,80,134,134,212,51,55,80,135,135,213,52,55,80,136,136,214,53,55,80,137,137,215,54,55,80,138,138,217,56,61,80,139,139,222,139,171,185,57,61,80,140,140,224,58,61,80,141,141,226,59,61,80,142,142,230,60,61,80,143,143,231,143,172,186,62,67,80,144,144,232,63,67,80,145,145,233,64,67,80,146,146,234,65,67,80,147,147,235,66,67,80,148,148,237,68,73,80,149,149,242,149,174,189,69,73,80,150,150,244,70,73,80,151,151,246,71,73,80,152,152,250,72,73,80,153,153,251,153,175,190,74,79,80,154,154,252,75,79,80,155,155,253,76,79,80,156,156,254,77,79,80,157,157,256,78,79,80,158,158,258,81,82,95,159,159,196,83,84,95,160,160,208,85,86,95,161,161,219,87,88,95,162,162,228,89,90,95,163,163,239,91,92,95,164,164,248,93,94,95,165,165,260};
c_int A_p[] = {0,4,6,9,13,15,19,21,24,28,30,33,37,39,43,45,49,51,55,57,61,63,67,69,73,75,78,82,84,87,91,93,97,99,103,105,109,111,115,117,121,123,127,129,132,136,138,141,145,147,151,153,157,159,163,165,169,171,175,177,181,183,186,190,192,196,198,202,204,208,210,214,216,220,222,225,229,231,234,238,240,244,246,250,252,256,258,261,265,267,271,273,277,279,283,285,289,291,295,297,300,304,306,310,312,316,318,322,324,327,331,333,337,339,343,345,349,351,355,357,361,363,366,370,372,376,378,382,384,388,390,393,397,399,403,405,409,411,415,417,421,423,427,429,433,435,439,441,445,447,451,453,457,459,463,465};
c_int A_nnz = 465;
c_int n = 155;
c_int m = 262;
c_float l[] = {30.00000,30.00000,59.00000,119.00000,30.00000,30.00000,30.00000,30.00000,30.00000,150.00000,30.00000,30.00000,59.00000,119.00000,30.00000,30.00000,30.00000,30.00000,30.00000,150.00000,30.00000,30.00000,59.00000,119.00000,30.00000,30.00000,30.00000,30.00000,30.00000,150.00000,30.00000,30.00000,59.00000,119.00000,926.00000,31.00000,31.00000,31.00000,30.00000,30.00000,30.00000,30.00000,30.00000,150.00000,31.00000,31.00000,31.00000,30.00000,28.00000,151.00000,30.00000,30.00000,30.00000,30.00000,30.00000,150.00000,31.00000,31.00000,31.00000,30.00000,28.00000,151.00000,30.00000,30.00000,30.00000,30.00000,30.00000,150.00000,31.00000,31.00000,31.00000,30.00000,28.00000,151.00000,30.00000,30.00000,30.00000,30.00000,30.00000,150.00000,1053.00000,16.00000,16.00000,16.00000,16.00000,16.00000,16.00000,16.00000,16.00000,16.00000,16.00000,16.00000,16.00000,16.00000,16.00000,112.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000};
c_float u[] = {30.00000,30.00000,59.00000,119.00000,30.00000,30.00000,30.00000,30.00000,30.00000,150.00000,30.00000,30.00000,59.00000,119.00000,30.00000,30.00000,30.00000,30.00000,30.00000,150.00000,30.00000,30.00000,59.00000,119.00000,30.00000,30.00000,30.00000,30.00000,30.00000,150.00000,30.00000,30.00000,59.00000,119.00000,926.00000,31.00000,31.00000,31.00000,30.00000,30.00000,30.00000,30.00000,30.00000,150.00000,31.00000,31.00000,31.00000,30.00000,28.00000,151.00000,30.00000,30.00000,30.00000,30.00000,30.00000,150.00000,31.00000,31.00000,31.00000,30.00000,28.00000,151.00000,30.00000,30.00000,30.00000,30.00000,30.00000,150.00000,31.00000,31.00000,31.00000,30.00000,28.00000,151.00000,30.00000,30.00000,30.00000,30.00000,30.00000,150.00000,1053.00000,36.00000,17.00000,36.00000,17.00000,36.00000,17.00000,36.00000,17.00000,36.00000,17.00000,36.00000,17.00000,36.00000,17.00000,112.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,30.00000,28.00000,54.00000,52.00000,28.00000,54.00000,52.00000,28.00000,52.00000,52.00000,28.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000,96.00000};
c_float q[] = {0.00000,0.00000,-35.02643,0.00000,0.00000,-3.56718,0.00000,-17.41907,0.00000,0.00000,-17.64691,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,-3.56718,0.00000,-32.17466,0.00000,0.00000,-17.64691,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,-3.56718,0.00000,-32.17466,0.00000,0.00000,-17.07260,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,-3.56718,0.00000,-32.17466,-1600.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,-35.02643,-1500.00000,0.00000,-17.64691,-1500.00000,0.00000,-1500.00000,0.00000,0.00000,0.00000,-750.00000,0.00000,-31.69304,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,-1500.00000,0.00000,-17.64691,-1500.00000,0.00000,-1500.00000,0.00000,0.00000,0.00000,-750.00000,0.00000,-31.69304,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,-1500.00000,0.00000,-17.07260,-1500.00000,0.00000,-1500.00000,0.00000,0.00000,0.00000,-750.00000,0.00000,-31.69304,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,-3.90625,0.00000,-3.90625,0.00000,-3.90625,0.00000,-3.90625,0.00000,-3.90625,0.00000,-3.90625,0.00000,-3.90625,0.00000};
c_float xstart[] = {30.00000,30.00000,0.00000,30.00000,30.00000,59.00000,59.00000,0.00000,30.00000,30.00000,0.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,59.00000,59.00000,0.00000,30.00000,30.00000,0.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,59.00000,59.00000,0.00000,30.00000,30.00000,0.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,59.00000,59.00000,0.00000,31.00000,31.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,0.00000,31.00000,31.00000,0.00000,31.00000,31.00000,31.00000,31.00000,30.00000,30.00000,28.00000,28.00000,0.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,31.00000,31.00000,0.00000,31.00000,31.00000,31.00000,31.00000,30.00000,30.00000,28.00000,28.00000,0.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,31.00000,31.00000,0.00000,31.00000,31.00000,31.00000,31.00000,30.00000,30.00000,28.00000,28.00000,0.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,30.00000,20.00000,20.00000,20.00000,20.00000,20.00000,20.00000,20.00000,20.00000,20.00000,20.00000,20.00000,20.00000,20.00000,20.00000};

main() {
    OSQPWorkspace *work;
    OSQPSettings  *settings = (OSQPSettings *)c_malloc(sizeof(OSQPSettings));
    OSQPData      *data     = (OSQPData *)c_malloc(sizeof(OSQPData));

    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;

    osqp_set_default_settings(settings);
    settings->eps_abs = 1e-2;
    settings->eps_rel = 1e-4;
    settings->check_termination = 5;

    osqp_setup(&work, data, settings);
    osqp_warm_start_x(work, xstart);
    osqp_solve(work);
}