qcp/
qcp.rs

1extern crate cplex_dynamic;
2use cplex_dynamic::{
3    Constraint, ConstraintType, Env, ObjectiveType, Problem, ProblemType, Variable, VariableType,
4    VariableValue, WeightedVariable,
5};
6
7fn main() {
8    let num_n = 6_usize;
9    let dim = 3_usize;
10    let env = Env::new().unwrap();
11
12    // starting moment
13    let t1 = std::time::Instant::now();
14    // populate it with a problem
15    let mut prob = Problem::new(&env, "miqpex1").unwrap();
16
17    for i in 0..dim * num_n * 4 {
18        let name = format!("x{:02}", i);
19        let _x = prob
20            .add_variable(Variable::new(
21                VariableType::Continuous,
22                0.0,
23                -100.0,
24                100.0,
25                name,
26            ))
27            .unwrap();
28    }
29    let p_s = [1.0, 0.0, -1.0];
30    let v_s = [0.0, 0.0, 0.0];
31    let a_s = [0.0, 0.0, 0.0];
32    let p_g = [8.0, 18.0, 5.0];
33    let v_g = [0.0, 0.0, 5.0];
34    let a_g = [0.0, 0.0, 0.0];
35
36    let dt: f64 = 1.0;
37    let mut num_con = 0;
38
39    // init constraint
40    for k in 0_usize..3 {
41        // position
42        let mut dummy = Constraint::new(ConstraintType::Eq, p_s[k], format!("dummy{}", num_con));
43        dummy.add_wvar(WeightedVariable::new_idx(9 + k, 1.0));
44        prob.add_constraint(dummy).unwrap();
45        num_con += 1;
46
47        // velocity
48        let mut dummy = Constraint::new(ConstraintType::Eq, v_s[k], format!("dummy{}", num_con));
49        dummy.add_wvar(WeightedVariable::new_idx(6 + k, 1.0));
50        prob.add_constraint(dummy).unwrap();
51        num_con += 1;
52
53        //accelerate
54        let mut dummy = Constraint::new(ConstraintType::Eq, a_s[k], format!("dummy{}", num_con));
55        dummy.add_wvar(WeightedVariable::new_idx(3 + k, 2.0));
56        prob.add_constraint(dummy).unwrap();
57        num_con += 1;
58    }
59
60    // final constraint
61    let base = (num_n - 1) * 12;
62    for k in 0_usize..3 {
63        // position
64        let mut dummy = Constraint::new(ConstraintType::Eq, p_g[k], format!("dummy{}", num_con));
65        dummy.add_wvar(WeightedVariable::new_idx(base + k, dt.powi(3)));
66        dummy.add_wvar(WeightedVariable::new_idx(base + 3 + k, dt.powi(2)));
67        dummy.add_wvar(WeightedVariable::new_idx(base + 6 + k, dt));
68        dummy.add_wvar(WeightedVariable::new_idx(base + 9 + k, 1.0));
69        prob.add_constraint(dummy).unwrap();
70        num_con += 1;
71
72        // velocity
73        let mut dummy = Constraint::new(ConstraintType::Eq, v_g[k], format!("dummy{}", num_con));
74        dummy.add_wvar(WeightedVariable::new_idx(base + k, 3.0 * dt.powi(2)));
75        dummy.add_wvar(WeightedVariable::new_idx(base + 3 + k, 2.0 * dt));
76        dummy.add_wvar(WeightedVariable::new_idx(base + 6 + k, 1.0));
77        prob.add_constraint(dummy).unwrap();
78        num_con += 1;
79
80        //accelerate
81        let mut dummy = Constraint::new(ConstraintType::Eq, a_g[k], format!("dummy{}", num_con));
82        dummy.add_wvar(WeightedVariable::new_idx(base + k, 6.0 * dt));
83        dummy.add_wvar(WeightedVariable::new_idx(base + 3 + k, 2.0));
84        prob.add_constraint(dummy).unwrap();
85        num_con += 1;
86    }
87
88    // continuity
89
90    for i in 0..num_n - 1 {
91        let base = i * 12;
92        for k in 0_usize..dim {
93            // position
94            let mut dummy = Constraint::new(ConstraintType::Eq, 0.0, format!("dummy{}", num_con));
95            dummy.add_wvar(WeightedVariable::new_idx(base + k, dt.powi(3)));
96            dummy.add_wvar(WeightedVariable::new_idx(base + 3 + k, dt.powi(2)));
97            dummy.add_wvar(WeightedVariable::new_idx(base + 6 + k, dt));
98            dummy.add_wvar(WeightedVariable::new_idx(base + 9 + k, 1.0));
99            dummy.add_wvar(WeightedVariable::new_idx(base + 12 + 9 + k, -1.0));
100            prob.add_constraint(dummy).unwrap();
101            num_con += 1;
102
103            // velocity
104            let mut dummy = Constraint::new(ConstraintType::Eq, 0.0, format!("dummy{}", num_con));
105            dummy.add_wvar(WeightedVariable::new_idx(base + k, 3.0 * dt.powi(2)));
106            dummy.add_wvar(WeightedVariable::new_idx(base + 3 + k, 2.0 * dt));
107            dummy.add_wvar(WeightedVariable::new_idx(base + 6 + k, 1.0));
108            dummy.add_wvar(WeightedVariable::new_idx(base + 12 + 6 + k, -1.0));
109            prob.add_constraint(dummy).unwrap();
110            num_con += 1;
111
112            //accelerate
113            let mut dummy =
114                Constraint::new(ConstraintType::Eq, a_g[k], format!("dummy{}", num_con));
115            dummy.add_wvar(WeightedVariable::new_idx(base + k, 6.0 * dt));
116            dummy.add_wvar(WeightedVariable::new_idx(base + 3 + k, 2.0));
117            dummy.add_wvar(WeightedVariable::new_idx(base + 12 + 3 + k, -2.0));
118            prob.add_constraint(dummy).unwrap();
119            num_con += 1;
120        }
121    }
122
123    // maximize the objective
124    let mut qp_vars: Vec<usize> = Vec::new();
125    let dummy = Constraint::new(ConstraintType::Eq, 0.0, "obj");
126    for i in 0..num_n {
127        let base = i * 12;
128        for k in 0..dim {
129            qp_vars.push(base + k);
130            // dummy.add_wvar(WeightedVariable::new_idx(base + k, 0.0));
131        }
132    }
133    prob.set_qp_objective(ObjectiveType::Minimize, dummy, qp_vars.clone(), dt / 36.0)
134        .unwrap();
135
136    // solve the problem
137    let sol = prob.solve(ProblemType::MixedInteger).unwrap();
138
139    let t2 = std::time::Instant::now();
140
141    println!("time cost {:?}", t2 - t1);
142
143    println!("{:.4?}", sol);
144    let sol_vars = sol.variables;
145    let mut f = 0.0_f64;
146    for idx in qp_vars.into_iter() {
147        let value = sol_vars[idx];
148        if let VariableValue::Continuous(v) = value {
149            f += v.powi(2);
150        }
151    }
152    f = f * dt / 36.0 / 2.0;
153    println!("f = {}", f);
154}
qcp/qcp.rs

qcp/
qcp.rs
