Opened 3 years ago

Closed 3 years ago

#47 closed user support (fixed)

Is qpOASES_e limited to solving small-scale QP problems?

Reported by: ferreau Owned by: ferreau
Priority: normal Milestone:
Component: plain C translation (qpOASES_e) Version: 3.1.1
Keywords: Cc:

Description

In my MPC application, qpOASES_e works just fine up until it has 49 variables and 68 constraints but for larger problems it fails to work. The status code of the initialisation routine says it is infeasible (error code 37) but when running a Matlab implementation with other solvers it works just fine.

Is there a known issue with larger problems in the C version? E.g. with more than 50 variables? Or should I suspect some other problems?

Change History (1)

comment:1 Changed 3 years ago by ferreau

  • Resolution set to fixed
  • Status changed from new to closed

As qpOASES_e makes use of static memory only, there are maximum QP dimensions hard-coded in the header files. By default, these limits are set to 50 variables and 100 constraints.

If you want to solve larger QP problems, please adjust the variables QPOASES_NVMAX and QPOASES_NCMAX in the file include/qpOASES_e/Constants.h (lines 60/61) and re-compile your code.

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