Commit dfba8b2f authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[WIP] [unittest] [eiquadprog-rt] test_unbiased

parent fe6ff27b
......@@ -17,6 +17,48 @@ using namespace eiquadprog::solvers;
BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
/*
// min ||x||^2
BOOST_AUTO_TEST_CASE ( test_unbiased )
{
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.setZero();
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.setZero();
double val = 0.0;
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-x_0||^2, x_0 = (1 1)^T
// s.t.
// x[1] = 5 - x[0]
......
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