GCC Code Coverage Report

Directory:	./
File:	tests/eiquadprog-both.cpp
Date:	2024-12-04 10:05:36

	Exec	Total	Coverage
Lines:	73	73	100.0%
Branches:	205	410	50.0%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2020 CNRS
3			//
4			// This file is part of eiquadprog.
5			//
6			// eiquadprog is free software: you can redistribute it and/or modify
7			// it under the terms of the GNU Lesser General Public License as published by
8			// the Free Software Foundation, either version 3 of the License, or
9			//(at your option) any later version.
10
11			// eiquadprog is distributed in the hope that it will be useful,
12			// but WITHOUT ANY WARRANTY; without even the implied warranty of
13			// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14			// GNU Lesser General Public License for more details.
15
16			// You should have received a copy of the GNU Lesser General Public License
17			// along with eiquadprog. If not, see <https://www.gnu.org/licenses/>.
18
19			#include <Eigen/Core>
20			#include <boost/test/unit_test.hpp>
21			#include <iostream>
22
23			#include "eiquadprog/eiquadprog-fast.hpp"
24			#include "eiquadprog/eiquadprog-rt.hpp"
25
26			using namespace eiquadprog::solvers;
27
28			/**
29			* solves the problem
30			* min. 0.5 * x' Hess x + g0' x
31			* s.t. CE x + ce0 = 0
32			* CI x + ci0 >= 0
33			*/
34
35			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
36
37			// min \|\|x\|\|^2
38
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40	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	EiquadprogFast qp;
41	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qp.reset(2, 0, 0);
42
43	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::MatrixXd Q(2, 2);
44	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q.setZero();
45	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(0, 0) = 1.0;
46	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(1, 1) = 1.0;
47
48	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd C(2);
49	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C.setZero();
50
51	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::MatrixXd Aeq(0, 2);
52
53	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd Beq(0);
54
55	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::MatrixXd Aineq(0, 2);
56
57	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd Bineq(0);
58
59	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd x(2);
60
61	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Eigen::VectorXd solution(2);
62	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution.setZero();
63
64		2	double val = 0.0;
65
66		2	EiquadprogFast_status expected = EIQUADPROG_FAST_OPTIMAL;
67
68			EiquadprogFast_status status =
69	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
70
71	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_EQUAL(status, expected);
72
73	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 21 not taken. ✓ Branch 22 taken 1 times.	2	BOOST_CHECK_CLOSE(qp.getObjValue(), val, 1e-6);
74
75	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(x.isApprox(solution));
76		2	}
77
78			// min \|\|x-x_0\|\|^2, x_0 = (1 1)^T
79
80	33/66 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✓ Branch 23 taken 1 times. ✗ Branch 24 not taken. ✓ Branch 27 taken 1 times. ✗ Branch 28 not taken. ✓ Branch 30 taken 1 times. ✗ Branch 31 not taken. ✓ Branch 33 taken 1 times. ✗ Branch 34 not taken. ✓ Branch 36 taken 1 times. ✗ Branch 37 not taken. ✓ Branch 41 taken 1 times. ✗ Branch 42 not taken. ✓ Branch 45 taken 1 times. ✗ Branch 46 not taken. ✓ Branch 48 taken 1 times. ✗ Branch 49 not taken. ✓ Branch 52 taken 1 times. ✗ Branch 53 not taken. ✓ Branch 55 taken 1 times. ✗ Branch 56 not taken. ✓ Branch 58 taken 1 times. ✗ Branch 59 not taken. ✓ Branch 61 taken 1 times. ✗ Branch 62 not taken. ✓ Branch 66 taken 1 times. ✗ Branch 67 not taken. ✓ Branch 70 taken 1 times. ✗ Branch 71 not taken. ✓ Branch 73 taken 1 times. ✗ Branch 74 not taken. ✓ Branch 77 taken 1 times. ✗ Branch 78 not taken. ✓ Branch 80 taken 1 times. ✗ Branch 81 not taken. ✓ Branch 83 taken 1 times. ✗ Branch 84 not taken. ✓ Branch 86 taken 1 times. ✗ Branch 87 not taken. ✓ Branch 91 taken 1 times. ✗ Branch 92 not taken. ✓ Branch 95 taken 1 times. ✗ Branch 96 not taken. ✓ Branch 98 taken 1 times. ✗ Branch 99 not taken. ✓ Branch 102 taken 1 times. ✗ Branch 103 not taken. ✓ Branch 105 taken 1 times. ✗ Branch 106 not taken. ✓ Branch 108 taken 1 times. ✗ Branch 109 not taken. ✓ Branch 111 taken 1 times. ✗ Branch 112 not taken. ✓ Branch 116 taken 1 times. ✗ Branch 117 not taken.	4	BOOST_AUTO_TEST_CASE(test_biased) {
81	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtEiquadprog<2, 0, 0> qp;
82
83	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Q;
84	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q.setZero();
85	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(0, 0) = 1.0;
86	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(1, 1) = 1.0;
87
88	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d C;
89	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C(0) = -1.;
90	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C(1) = -1.;
91
92	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<0, 2>::d Aeq;
93
94	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<0>::d Beq;
95
96	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<0, 2>::d Aineq;
97
98	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<0>::d Bineq;
99
100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d x;
101
102	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d solution;
103	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution(0) = 1.;
104	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution(1) = 1.;
105
106		2	double val = -1.;
107
108		2	RtEiquadprog_status expected = RT_EIQUADPROG_OPTIMAL;
109
110			RtEiquadprog_status status =
111	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
112
113	5/10 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 10 taken 1 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 1 times. ✗ Branch 14 not taken. ✗ Branch 17 not taken. ✓ Branch 18 taken 1 times.	2	BOOST_CHECK_EQUAL(status, expected);
114
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117	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✓ Branch 21 taken 1 times. ✗ Branch 22 not taken. ✗ Branch 26 not taken. ✓ Branch 27 taken 1 times.	2	BOOST_CHECK(x.isApprox(solution));
118		2	}
119
120			// min \|\|x\|\|^2
121			// s.t.
122			// x[1] = 1 - x[0]
123
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125	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtEiquadprog<2, 1, 0> qp;
126
127	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Q;
128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q.setZero();
129	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(0, 0) = 1.0;
130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(1, 1) = 1.0;
131
132	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d C;
133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C.setZero();
134
135	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<1, 2>::d Aeq;
136	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aeq(0, 0) = 1.;
137	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aeq(0, 1) = 1.;
138
139	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<1>::d Beq;
140	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Beq(0) = -1.;
141
142	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<0, 2>::d Aineq;
143
144	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<0>::d Bineq;
145
146	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d x;
147
148	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d solution;
149	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution(0) = 0.5;
150	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution(1) = 0.5;
151
152		2	double val = 0.25;
153
154		2	RtEiquadprog_status expected = RT_EIQUADPROG_OPTIMAL;
155
156			RtEiquadprog_status status =
157	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
158
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160
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162
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164		2	}
165
166			BOOST_AUTO_TEST_SUITE_END()
167