Opened 7 months ago

Closed 5 months ago

#99 closed user support (migrated)

Initialisation failed due to Cholesky decomposition

Reported by: mertturanli Owned by: ferreau
Priority: normal Milestone:
Component: C++ core Version: 3.2.1
Keywords: Cc:

Description

Hello,

I am doing a MPC application by using qpOASES with C++.

I constructed the Hessian and the gradient matrices. I am sure that the Hessian is positive semi definite (I checked the eigenvalues of H, they are all positive.)

However, when I run the code I am getting the error "Initialisation failed due to Cholesky decomposition" and quadratic optimization fails to start.

--

################### qpOASES -- QP OPTIONS ##################

printLevel = PL_DEBUG_ITER

enableRamping = BT_FALSE
enableFarBounds = BT_TRUE
enableFlippingBounds = BT_FALSE
enableRegularisation = BT_TRUE
enableFullLITests = BT_FALSE
enableNZCTests = BT_FALSE
enableDriftCorrection = 0
enableCholeskyRefactorisation = 0
enableEqualities = BT_TRUE
enableInertiaCorrection = BT_TRUE
rcondSMin = 1.000000e-14

terminationTolerance = 2.221000e-07
boundTolerance = 2.221000e-10
boundRelaxation = 1.000000e+04
epsNum = -2.221000e-13
epsDen = 2.221000e-13
maxPrimalJump = 1.000000e+08
maxDualJump = 1.000000e+08

initialRamping = 5.000000e-01
finalRamping = 1.000000e+00
initialFarBounds = 1.000000e+06
growFarBounds = 1.000000e+03
initialStatusBounds = ST_INACTIVE
epsFlipping = 2.221000e-13
numRegularisationSteps = 1
epsRegularisation = 6.864946e-04
numRefinementSteps = 0
epsIterRef = 2.221000e-14
epsLITests = 2.221000e-11
epsNZCTests = 6.663000e-13

objective value = 0
solution =

0 0 0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0 0
2 0 0 0 0 0 0 0 0 0
3 0 0 0 0 0 0 0 0 0
4 0 0 0 0 0 0 0 0 0
5 0 0 0 0 0 0 0 0 0
6 0 0 0 0 0 0 0 0 0
7 0 0 0 0 0 0 0 0 0
8 0 0 0 0 0 0 0 0 0
9 0 0 0 0 0 0 0 0 0

ERROR: Initialisation failed due to Cholesky decomposition
->ERROR: Initialisation failed! QP could not be solved!

Attachments (1)

debug_A_P.txt (295.3 KB) - added by mertturanli 7 months ago.
P, A, A_lb, A_ub matrices and lower and upper bounds of state variable x

Download all attachments as: .zip

Change History (2)

Changed 7 months ago by mertturanli

P, A, A_lb, A_ub matrices and lower and upper bounds of state variable x

comment:1 Changed 5 months ago by stefan

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

This ticket has been migrated to GitHub and will be resolved there: https://github.com/coin-or/qpOASES/issues/99

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