Commit 4b4fb593 authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[unittest] [eiquadprog-rt] test_biased

parent af662265
......@@ -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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