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eiquadprog
Commits
4b4fb593
Commit
4b4fb593
authored
Oct 04, 2019
by
Gabriele Buondonno
Browse files
[unittest] [eiquadprog-rt] test_biased
parent
af662265
Changes
1
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unittest/eiquadprog-rt.cpp
View file @
4b4fb593
...
...
@@ -57,6 +57,47 @@ BOOST_AUTO_TEST_CASE ( test_unbiased )
BOOST_CHECK
(
x
.
isApprox
(
solution
));
}
// min ||x-x_0||^2, x_0 = (1 1)^T
BOOST_AUTO_TEST_CASE
(
test_biased
)
{
RtEiquadprog
<
2
,
0
,
0
>
qp
;
RtMatrixX
<
2
,
2
>::
d
Q
;
Q
.
setZero
();
Q
(
0
,
0
)
=
1.0
;
Q
(
1
,
1
)
=
1.0
;
RtVectorX
<
2
>::
d
C
;
C
(
0
)
=
-
1.
;
C
(
1
)
=
-
1.
;
RtMatrixX
<
0
,
2
>::
d
Aeq
;
RtVectorX
<
0
>::
d
Beq
;
RtMatrixX
<
0
,
2
>::
d
Aineq
;
RtVectorX
<
0
>::
d
Bineq
;
RtVectorX
<
2
>::
d
x
;
RtVectorX
<
2
>::
d
solution
;
solution
(
0
)
=
1.
;
solution
(
1
)
=
1.
;
double
val
=
-
1.
;
RtEiquadprog_status
expected
=
RT_EIQUADPROG_OPTIMAL
;
RtEiquadprog_status
status
=
qp
.
solve_quadprog
(
Q
,
C
,
Aeq
,
Beq
,
Aineq
,
Bineq
,
x
);
BOOST_CHECK_EQUAL
(
status
,
expected
);
BOOST_CHECK_CLOSE
(
qp
.
getObjValue
(),
val
,
1e-6
);
BOOST_CHECK
(
x
.
isApprox
(
solution
));
}
// min ||x||^2
// s.t.
// x[1] = 1 - x[0]
...
...
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