Commit fac8600c authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[unittest] [eiquadprog-rt] test_inequality_constraints (without equalities)

parent dd99c6db
......@@ -59,6 +59,53 @@ BOOST_AUTO_TEST_CASE ( test_unbiased )
}
*/
// min ||x||^2
// s.t.
// x[i] >= 1
BOOST_AUTO_TEST_CASE(test_inequality_constraints) {
RtEiquadprog<2,0,2> 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(0);
RtMatrixX<2,2>::d Aineq;
Aineq.setZero();
Aineq(0, 0) = 1.;
Aineq(1, 1) = 1.;
RtVectorX<2>::d Bineq;
Bineq(0) = -1.;
Bineq(1) = -1.;
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-x_0||^2, x_0 = (1 1)^T
// s.t.
// x[1] = 5 - x[0]
......
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