heli-sudoo/qpOASES_Benchmark

Set the path to the qpOASES library using the environment variable, which should be the directory containing libqpOASES.a

export QPOASES_LIB_PATH = DIR_TO_QPOASES_LIB
export QPOASES_INCLUDE = INCLUDE_DIR_TO_QPOASES

Edit the line below to point to your file:

Line 18 in 2da997b

    
           std::string mpc_log_fname = "/home/heli/Research/Tutorials/qpOASES/practice/time_benchmark/MPC_LOG";

Build and compile

mkdir build && cd build
cmake ..
make -j

Run

./time_benchmark

Test Data: MC Trot In Place, n_var = 60, n_con = 100, mpc_setting=True

Solve Time Statistics

Platform	Mean (ms)	Min (ms)	Max (ms)	Std (ms)
ThinkPad X1 2020	0.043	0.041	0.070	0.002
Lab Desktop	0.072	0.066	0.1	0.007
MC UpBoard	0.606	0.644	0.723	0.045

Number of Iteration Statistics (Independent of Platform)

Mean	Min	Max	Std
0	0	0	0

Test Data: Pat's Data, n_var = 120, n_con = 160, mpc_setting=True

Platform	Mean (ms)	Min (ms)	Max (ms)	Std (ms)	Mean_nWSR
ThinkPad X1 2020	1.47	0.25	9.06	1.001	3.234
Lab Desktop	1.92	0.32	12.39	1.30	3.234
MC UpBoard	14.47	1.84	85.1	9.42	3.234

Number of Iteration Statistics (Independent of Platform)

Mean	Min	Max	Std
3.23	0	131	14.34