[unittest] [eiquadprog-rt] test_full

unittest/CMakeLists.txt

@@ -4,6 +4,7 @@ ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
 SET (TESTS
   eiquadprog-basic
   eiquadprog-fast
+  eiquadprog-rt
   )
 
 FOREACH(test ${TESTS})

unittest/eiquadprog-rt.cpp

+#include <iostream>
+
+#include <Eigen/Core>
+
+#include <boost/test/unit_test.hpp>
+
+#include "eiquadprog/eiquadprog-rt.hpp"
+
+using namespace eiquadprog::solvers;
+
+/**
+ * solves the problem
+ * min. 0.5 * x' Hess x + g0' x
+ * s.t. CE x + ce0 = 0
+ *      CI x + ci0 >= 0
+ */
+
+BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
+
+// min ||x-x_0||^2, x_0 = (1 1)^T
+//    s.t.
+// x[1] = 5 - x[0]
+// x[1] >= 3
+
+BOOST_AUTO_TEST_CASE ( test_full )
+{
+  RtEiquadprog<2,1,1> 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<1,2>::d Aeq;
+  Aeq(0,0) = 1.;
+  Aeq(0,1) = 1.;
+
+  RtVectorX<1>::d Beq;
+  Beq(0) = -5.;
+
+  RtMatrixX<1,2>::d Aineq;
+  Aineq.setZero();
+  Aineq(0,1) = 1.;
+
+  RtVectorX<1>::d Bineq;
+  Bineq(0) = -3.;
+
+  RtVectorX<2>::d x;
+
+  RtVectorX<2>::d solution;
+  solution(0) = 2.;
+  solution(1) = 3.;
+
+  double val = 1.5;
+
+  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));
+}
+
+BOOST_AUTO_TEST_SUITE_END ()
+