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specmicp/tests/micpsolver/test_micpsolver.hpp
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test_micpsolver.hpp
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/*-------------------------------------------------------
- Module : tests/micpsolver
- File : test_micpsolver.hpp
- Author : Fabien Georget
Copyright (c) 2014, Fabien Georget, Princeton University
---------------------------------------------------------*/
#include "cxxtest/TestSuite.h"
#include "micpsolver/micpsolver.hpp"
#include "micpsolver/micpprog.hpp"
using namespace specmicp::micpsolver;
class TestLinearProgram: public MiCPProg<TestLinearProgram>
{
public:
//! Return the number of variables
int total_variables() {return 3;}
int nb_free_variables() {return 2;}
int nb_complementarity_variables() {return 1;}
//! Return the residual (R(X))
void get_residuals(const types::vector_t& x,
types::vector_t& residual) {
assert(residual.rows() == 3);
residual << 1 + x(0), 1 + 1*x(1) + x(2), -x(0) - x(1) +x(2);
}
//! Return the jacobian (J(x))
void get_jacobian(const types::vector_t& x,
types::matrix_t& jacobian)
{
assert(jacobian.cols() == 3);
assert(jacobian.rows() == 3);
jacobian << 1, 0, 0, 0, 1, 1, -1, -1, 1;
}
};
class Test_Micp : public CxxTest::TestSuite
{
public:
void test_compiletest()
{
}
void test_linear_program()
{
std::shared_ptr<TestLinearProgram> ptrprog = std::make_shared<TestLinearProgram>();
MiCPSolver<TestLinearProgram> solver(ptrprog);
Eigen::VectorXd x(3);
x << -1.5, -2 , 10;
MiCPSolverReturnCode ret = solver.solve(x);
TS_ASSERT_EQUALS(ret, MiCPSolverReturnCode::ResidualMinimized);
TS_ASSERT_LESS_THAN_EQUALS(std::abs(x(0)+1), 1e-8);
TS_ASSERT_LESS_THAN_EQUALS(std::abs(x(1)+1), 1e-8);
TS_ASSERT_LESS_THAN_EQUALS(std::abs(x(2)), 1e-8);
}
};
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