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Add update_Q_A to MEX interface #6

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Add update_Q_A to MEX interface #6

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b637c5a
Add update_Q_A to MEX interface
alexandre-faye Mar 12, 2025
a67d194
Change update_Q_A MEX interface behavior
alexandre-faye Mar 13, 2025
0d17bde
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alexandre-faye Mar 13, 2025
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23 changes: 23 additions & 0 deletions QPALM/interfaces/mex/qpalm.m
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@
properties (SetAccess = private, Hidden = true)
n;
m;
A_sparsity;
Q_sparsity;
% objectHandle % Handle to underlying C instance
end
methods(Static)
Expand Down Expand Up @@ -102,6 +104,7 @@ function delete(this)
Q = sparse(Q);
% Q = full(Q(:,:));
end
this.Q_sparsity = logical(Q);
if (isempty(q))
q = zeros(n, 1);
else
Expand All @@ -113,6 +116,7 @@ function delete(this)
(~isempty(A) && (isempty(bmin) && isempty(bmax)))
error('A must be supplied together with at least one bound l or u');
end
this.A_sparsity = logical(A);

if (~isempty(A) && isempty(bmin))
bmin = -Inf(m, 1);
Expand Down Expand Up @@ -212,6 +216,25 @@ function update_q(this, q)
qpalm.qpalm_mex('update_q', q);
end

function update_Q_A(this, Q, A)
% UPDATE_Q_A update the matrices Q and A
%
% update_Q_A(Q, A)

if (isempty(A))
A = zeros(this.m, this.n);
else
A = full(A);
end
if (isempty(Q))
Q = zeros(this.n);
else
Q = full(Q);
end
Qxi = this.Q_sparsity & triu(true(this.n));
qpalm.qpalm_mex('update_Q_A', Q(Qxi), A(this.A_sparsity));
end

function update_bounds(this, bmin, bmax)
% UPDATE_BOUNDS update the lower and upper bounds of the linear
% constraints. Use empty matrices to denote bounds that are not
Expand Down
18 changes: 17 additions & 1 deletion QPALM/interfaces/mex/src/qpalm_mex.c
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
#define MODE_WARM_START "warm_start"
#define MODE_UPDATE_BOUNDS "update_bounds"
#define MODE_UPDATE_LINEAR "update_q"
#define MODE_UPDATE_MATRICES "update_Q_A"
#define MODE_SOLVE "solve"
#define MODE_DELETE "delete"

Expand Down Expand Up @@ -186,7 +187,7 @@ void mexFunction(int nlhs, mxArray * plhs [], int nrhs, const mxArray * prhs [])
char cmd[64];

if (nrhs < 1 || mxGetString(prhs[0], cmd, sizeof(cmd)))
mexErrMsgTxt("First input should be a command string less than 64 characters long.");
mexErrMsgTxt("First input should be a command string less than 64 characters long.");

// report the default settings
if (strcmp(cmd, MODE_DEFAULT_SETTINGS) == 0) {
Expand Down Expand Up @@ -351,6 +352,21 @@ void mexFunction(int nlhs, mxArray * plhs [], int nrhs, const mxArray * prhs [])
mexWarnMsgTxt("Update q: Empty q has no effect.");
}

} else if (strcmp(cmd, MODE_UPDATE_MATRICES) == 0) {

if (nlhs != 0 || nrhs != 3){
mexErrMsgTxt("Update Q and A : wrong number of inputs / outputs");
}
if(!qpalm_work){
mexErrMsgTxt("Work is not setup.");
}

if (!mxIsEmpty(prhs[1])) {
qpalm_update_Q_A(qpalm_work, mxGetPr(prhs[1]), mxGetPr(prhs[2]));
} else {
mexWarnMsgTxt("Update Q and A: Empty Q has no effect.");
}

} else if (strcmp(cmd, MODE_SOLVE) == 0) { // SOLVE

if (nlhs != 5 || nrhs != 1){
Expand Down