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Commit c4cfba97 authored by Gabriele Buondonno's avatar Gabriele Buondonno
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[unittest] Format

parent c0c1a74c
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unittest/eiquadprog-fast.cpp
View file @ c4cfba97
......@@ -401,7 +401,7 @@ BOOST_AUTO_TEST_CASE(test_unbounded) {
EiquadprogFast_status status = qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
BOOST_WARN_EQUAL(status, expected);
BOOST_WARN(status != EIQUADPROG_FAST_OPTIMAL); // SHOULD pass!
BOOST_WARN(status != EIQUADPROG_FAST_OPTIMAL); // SHOULD pass!
}
// min -||x||^2
......
unittest/eiquadprog-rt.cpp
View file @ c4cfba97
......@@ -15,27 +15,26 @@ using namespace eiquadprog::solvers;
* CI x + ci0 >= 0
*/
BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
// min ||x||^2
BOOST_AUTO_TEST_CASE ( test_unbiased )
{
RtEiquadprog<2,0,0> qp;
BOOST_AUTO_TEST_CASE(test_unbiased) {
RtEiquadprog<2, 0, 0> qp;
RtMatrixX<2,2>::d Q;
RtMatrixX<2, 2>::d Q;
Q.setZero();
Q(0,0) = 1.0;
Q(1,1) = 1.0;
Q(0, 0) = 1.0;
Q(1, 1) = 1.0;
RtVectorX<2>::d C;
C.setZero();
RtMatrixX<0,2>::d Aeq;
RtMatrixX<0, 2>::d Aeq;
RtVectorX<0>::d Beq;
RtMatrixX<0,2>::d Aineq;
RtMatrixX<0, 2>::d Aineq;
RtVectorX<0>::d Bineq;
......@@ -50,9 +49,9 @@ BOOST_AUTO_TEST_CASE ( test_unbiased )
RtEiquadprog_status status = qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
BOOST_CHECK_EQUAL(status,expected);
BOOST_CHECK_EQUAL(status, expected);
BOOST_CHECK_CLOSE(qp.getObjValue(),val,1e-6);
BOOST_CHECK_CLOSE(qp.getObjValue(), val, 1e-6);
BOOST_CHECK(x.isApprox(solution));
}
......@@ -60,9 +59,9 @@ BOOST_AUTO_TEST_CASE ( test_unbiased )
// min ||x-x_0||^2, x_0 = (1 1)^T
BOOST_AUTO_TEST_CASE(test_biased) {
RtEiquadprog<2,0,0> qp;
RtEiquadprog<2, 0, 0> qp;
RtMatrixX<2,2>::d Q;
RtMatrixX<2, 2>::d Q;
Q.setZero();
Q(0, 0) = 1.0;
Q(1, 1) = 1.0;
......@@ -71,11 +70,11 @@ BOOST_AUTO_TEST_CASE(test_biased) {
C(0) = -1.;
C(1) = -1.;
RtMatrixX<0,2>::d Aeq;
RtMatrixX<0, 2>::d Aeq;
RtVectorX<0>::d Beq;
RtMatrixX<0,2>::d Aineq;
RtMatrixX<0, 2>::d Aineq;
RtVectorX<0>::d Bineq;
......@@ -103,9 +102,9 @@ BOOST_AUTO_TEST_CASE(test_biased) {
// x[1] = 1 - x[0]
BOOST_AUTO_TEST_CASE(test_equality_constraints) {
RtEiquadprog<2,1,0> qp;
RtEiquadprog<2, 1, 0> qp;
RtMatrixX<2,2>::d Q;
RtMatrixX<2, 2>::d Q;
Q.setZero();
Q(0, 0) = 1.0;
Q(1, 1) = 1.0;
......@@ -113,14 +112,14 @@ BOOST_AUTO_TEST_CASE(test_equality_constraints) {
RtVectorX<2>::d C;
C.setZero();
RtMatrixX<1,2>::d Aeq;
RtMatrixX<1, 2>::d Aeq;
Aeq(0, 0) = 1.;
Aeq(0, 1) = 1.;
RtVectorX<1>::d Beq;
Beq(0) = -1.;
RtMatrixX<0,2>::d Aineq;
RtMatrixX<0, 2>::d Aineq;
RtVectorX<0>::d Bineq;
......@@ -148,9 +147,9 @@ BOOST_AUTO_TEST_CASE(test_equality_constraints) {
// x[i] >= 1
BOOST_AUTO_TEST_CASE(test_inequality_constraints) {
RtEiquadprog<2,0,2> qp;
RtEiquadprog<2, 0, 2> qp;
RtMatrixX<2,2>::d Q;
RtMatrixX<2, 2>::d Q;
Q.setZero();
Q(0, 0) = 1.0;
Q(1, 1) = 1.0;
......@@ -158,11 +157,11 @@ BOOST_AUTO_TEST_CASE(test_inequality_constraints) {
RtVectorX<2>::d C;
C.setZero();
RtMatrixX<0,2>::d Aeq;
RtMatrixX<0, 2>::d Aeq;
RtVectorX<0>::d Beq(0);
RtMatrixX<2,2>::d Aineq;
RtMatrixX<2, 2>::d Aineq;
Aineq.setZero();
Aineq(0, 0) = 1.;
Aineq(1, 1) = 1.;
......@@ -195,29 +194,28 @@ BOOST_AUTO_TEST_CASE(test_inequality_constraints) {
// x[1] = 5 - x[0]
// x[1] >= 3
BOOST_AUTO_TEST_CASE ( test_full )
{
RtEiquadprog<2,1,1> qp;
BOOST_AUTO_TEST_CASE(test_full) {
RtEiquadprog<2, 1, 1> qp;
RtMatrixX<2,2>::d Q;
RtMatrixX<2, 2>::d Q;
Q.setZero();
Q(0,0) = 1.0;
Q(1,1) = 1.0;
Q(0, 0) = 1.0;
Q(1, 1) = 1.0;
RtVectorX<2>::d C;
C(0) = -1.;
C(1) = -1.;
RtMatrixX<1,2>::d Aeq;
Aeq(0,0) = 1.;
Aeq(0,1) = 1.;
RtMatrixX<1, 2>::d Aeq;
Aeq(0, 0) = 1.;
Aeq(0, 1) = 1.;
RtVectorX<1>::d Beq;
Beq(0) = -5.;
RtMatrixX<1,2>::d Aineq;
RtMatrixX<1, 2>::d Aineq;
Aineq.setZero();
Aineq(0,1) = 1.;
Aineq(0, 1) = 1.;
RtVectorX<1>::d Bineq;
Bineq(0) = -3.;
......@@ -234,9 +232,9 @@ BOOST_AUTO_TEST_CASE ( test_full )
RtEiquadprog_status status = qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
BOOST_CHECK_EQUAL(status,expected);
BOOST_CHECK_EQUAL(status, expected);
BOOST_CHECK_CLOSE(qp.getObjValue(),val,1e-6);
BOOST_CHECK_CLOSE(qp.getObjValue(), val, 1e-6);
BOOST_CHECK(x.isApprox(solution));
}
......@@ -247,9 +245,9 @@ BOOST_AUTO_TEST_CASE ( test_full )
// x[0] = -1
BOOST_AUTO_TEST_CASE(test_unfeasible_equalities) {
RtEiquadprog<2,2,0> qp;
RtEiquadprog<2, 2, 0> qp;
RtMatrixX<2,2>::d Q;
RtMatrixX<2, 2>::d Q;
Q.setZero();
Q(0, 0) = 1.0;
Q(1, 1) = 1.0;
......@@ -257,7 +255,7 @@ BOOST_AUTO_TEST_CASE(test_unfeasible_equalities) {
RtVectorX<2>::d C;
C.setZero();
RtMatrixX<2,2>::d Aeq;
RtMatrixX<2, 2>::d Aeq;
Aeq.setZero();
Aeq(0, 0) = 1.;
Aeq(1, 0) = 1.;
......@@ -266,7 +264,7 @@ BOOST_AUTO_TEST_CASE(test_unfeasible_equalities) {
Beq(0) = -1.;
Beq(1) = 1.;
RtMatrixX<0,2>::d Aineq;
RtMatrixX<0, 2>::d Aineq;
RtVectorX<0>::d Bineq;
......@@ -287,9 +285,9 @@ BOOST_AUTO_TEST_CASE(test_unfeasible_equalities) {
// correctly fails, but returns wrong error code
BOOST_AUTO_TEST_CASE(test_unfeasible_inequalities) {
RtEiquadprog<2,0,2> qp;
RtEiquadprog<2, 0, 2> qp;
RtMatrixX<2,2>::d Q;
RtMatrixX<2, 2>::d Q;
Q.setZero();
Q(0, 0) = 1.0;
Q(1, 1) = 1.0;
......@@ -297,11 +295,11 @@ BOOST_AUTO_TEST_CASE(test_unfeasible_inequalities) {
RtVectorX<2>::d C;
C.setZero();
RtMatrixX<0,2>::d Aeq;
RtMatrixX<0, 2>::d Aeq;
RtVectorX<0>::d Beq;
RtMatrixX<2,2>::d Aineq;
RtMatrixX<2, 2>::d Aineq;
Aineq.setZero();
Aineq(0, 0) = 1.;
Aineq(1, 0) = -1.;
......@@ -324,9 +322,9 @@ BOOST_AUTO_TEST_CASE(test_unfeasible_inequalities) {
// DOES NOT WORK!
BOOST_AUTO_TEST_CASE(test_unbounded) {
RtEiquadprog<2,0,0> qp;
RtEiquadprog<2, 0, 0> qp;
RtMatrixX<2,2>::d Q;
RtMatrixX<2, 2>::d Q;
Q.setZero();
Q(0, 0) = -1.0;
Q(1, 1) = -1.0;
......@@ -334,11 +332,11 @@ BOOST_AUTO_TEST_CASE(test_unbounded) {
RtVectorX<2>::d C;
C.setZero();
RtMatrixX<0,2>::d Aeq;
RtMatrixX<0, 2>::d Aeq;
RtVectorX<0>::d Beq;
RtMatrixX<0,2>::d Aineq;
RtMatrixX<0, 2>::d Aineq;
RtVectorX<0>::d Bineq;
......@@ -349,7 +347,7 @@ BOOST_AUTO_TEST_CASE(test_unbounded) {
RtEiquadprog_status status = qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
BOOST_WARN_EQUAL(status, expected);
BOOST_WARN(status != RT_EIQUADPROG_OPTIMAL); // SHOULD pass!
BOOST_WARN(status != RT_EIQUADPROG_OPTIMAL); // SHOULD pass!
}
// min -||x||^2
......@@ -359,9 +357,9 @@ BOOST_AUTO_TEST_CASE(test_unbounded) {
// DOES NOT WORK!
BOOST_AUTO_TEST_CASE(test_nonconvex) {
RtEiquadprog<2,0,4> qp;
RtEiquadprog<2, 0, 4> qp;
RtMatrixX<2,2>::d Q;
RtMatrixX<2, 2>::d Q;
Q.setZero();
Q(0, 0) = -1.0;
Q(1, 1) = -1.0;
......@@ -369,11 +367,11 @@ BOOST_AUTO_TEST_CASE(test_nonconvex) {
RtVectorX<2>::d C;
C.setZero();
RtMatrixX<0,2>::d Aeq;
RtMatrixX<0, 2>::d Aeq;
RtVectorX<0>::d Beq;
RtMatrixX<4,2>::d Aineq(4, 2);
RtMatrixX<4, 2>::d Aineq(4, 2);
Aineq.setZero();
Aineq(0, 0) = 1.;
Aineq(1, 0) = -1.;
......@@ -405,5 +403,4 @@ BOOST_AUTO_TEST_CASE(test_nonconvex) {
BOOST_WARN(x.isApprox(solution));
}
BOOST_AUTO_TEST_SUITE_END ()
BOOST_AUTO_TEST_SUITE_END()
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