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test_micpsolver.hpp
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rSPECMICP SpecMiCP / ReactMiCP
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
)
+
x
(
2
),
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
,
1
,
0
,
1
,
1
,
-
1
,
-
1
,
1
;
}
};
class
TestNonLinearProgram
:
public
MiCPProg
<
TestNonLinearProgram
>
{
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
)
*
x
(
0
)
+
x
(
2
),
1
+
1
*
x
(
1
)
+
x
(
2
)
*
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
<<
2
*
x
(
0
),
0
,
1
,
0
,
1
,
2
*
x
(
2
),
-
1
,
-
1
,
1
;
}
};
class
TestKojimaProgram
:
public
MiCPProg
<
TestKojimaProgram
>
{
public
:
//! Return the number of variables
int
total_variables
()
{
return
4
;}
int
nb_free_variables
()
{
return
0
;}
int
nb_complementarity_variables
()
{
return
4
;}
//! Return the residual (R(X))
void
get_residuals
(
const
types
::
vector_t
&
x
,
types
::
vector_t
&
residual
)
{
assert
(
residual
.
rows
()
==
4
);
residual
<<
3
*
x
(
0
)
*
x
(
0
)
+
2
*
x
(
0
)
*
x
(
1
)
+
2
*
x
(
1
)
*
x
(
1
)
+
x
(
2
)
+
3
*
x
(
3
)
-
6
,
2
*
x
(
0
)
*
x
(
0
)
+
x
(
1
)
*
x
(
1
)
+
x
(
0
)
+
10
*
x
(
2
)
+
2
*
x
(
3
)
-
2
,
3
*
x
(
0
)
+
x
(
0
)
*
x
(
1
)
+
2
*
x
(
1
)
*
x
(
1
)
+
2
*
x
(
2
)
+
9
*
x
(
3
)
-
9
,
x
(
0
)
*
x
(
0
)
+
3
*
x
(
1
)
*
x
(
1
)
+
2
*
x
(
2
)
+
3
*
x
(
3
)
-
3
;
}
//! Return the jacobian (J(x))
void
get_jacobian
(
types
::
vector_t
&
x
,
types
::
matrix_t
&
jacobian
)
{
assert
(
jacobian
.
cols
()
==
4
);
assert
(
jacobian
.
rows
()
==
4
);
const
int
neq
=
total_variables
();
Eigen
::
VectorXd
res
(
total_variables
());
Eigen
::
VectorXd
perturbed_res
(
total_variables
());
get_residuals
(
x
,
res
);
for
(
int
j
=
0
;
j
<
neq
;
++
j
)
{
double
h
=
1e-8
*
std
::
abs
(
x
(
j
));
//h = std::copysign(h, x(j));
if
(
h
==
0
)
h
=
1e-8
;
double
tmp
=
x
(
j
);
x
(
j
)
+=
h
;
h
=
x
(
j
)
-
tmp
;
get_residuals
(
x
,
perturbed_res
);
for
(
int
i
=
0
;
i
<
neq
;
++
i
)
{
jacobian
(
i
,
j
)
=
(
perturbed_res
(
i
)
-
res
(
i
))
/
h
;
}
x
(
j
)
=
tmp
;
}
return
;
}
};
class
Test_Micp
:
public
CxxTest
::
TestSuite
{
public
:
void
test_compiletest
()
{
}
void
test_linear_program_0
()
{
std
::
shared_ptr
<
TestLinearProgram
>
ptrprog
=
std
::
make_shared
<
TestLinearProgram
>
();
MiCPSolver
<
TestLinearProgram
>
solver
(
ptrprog
);
Eigen
::
VectorXd
x
(
3
);
x
<<
-
1.5
,
-
2
,
0
;
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
);
}
void
test_linear_program_10
()
{
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
);
}
void
test_nonlinear_program_0
()
{
std
::
shared_ptr
<
TestNonLinearProgram
>
ptrprog
=
std
::
make_shared
<
TestNonLinearProgram
>
();
MiCPSolver
<
TestNonLinearProgram
>
solver
(
ptrprog
);
Eigen
::
VectorXd
x
(
3
);
x
<<
-
1.5
,
-
2
,
0
;
MiCPSolverReturnCode
ret
=
solver
.
solve
(
x
);
std
::
cout
<<
x
<<
std
::
endl
;
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
);
}
void
test_nonlinear_program_5
()
{
std
::
shared_ptr
<
TestNonLinearProgram
>
ptrprog
=
std
::
make_shared
<
TestNonLinearProgram
>
();
MiCPSolver
<
TestNonLinearProgram
>
solver
(
ptrprog
);
Eigen
::
VectorXd
x
(
3
);
x
<<
-
1.5
,
-
2
,
5
;
MiCPSolverReturnCode
ret
=
solver
.
solve
(
x
);
std
::
cout
<<
x
<<
std
::
endl
;
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
);
}
void
test_kojima_program
()
{
std
::
shared_ptr
<
TestKojimaProgram
>
ptrprog
=
std
::
make_shared
<
TestKojimaProgram
>
();
MiCPSolver
<
TestKojimaProgram
>
solver
(
ptrprog
);
Eigen
::
VectorXd
x
(
4
);
x
<<
0.9
,
0.1
,
2.9
,
0.1
;
MiCPSolverReturnCode
ret
=
solver
.
solve
(
x
);
std
::
cout
<<
x
<<
std
::
endl
;
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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