GCC Code Coverage Report

Directory:	./
File:	tests/eiquadprog-rt.cpp
Date:	2024-08-26 22:54:11

	Exec	Total	Coverage
Lines:	251	251	100.0%
Branches:	666	1332	50.0%

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019 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 "eiquadprog/eiquadprog-rt.hpp"
20
21			#include <Eigen/Core>
22			#include <boost/test/unit_test.hpp>
23			#include <iostream>
24
25			using namespace eiquadprog::solvers;
26
27			/**
28			* solves the problem
29			* min. 0.5 * x' Hess x + g0' x
30			* s.t. CE x + ce0 = 0
31			* CI x + ci0 >= 0
32			*/
33
34			BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
35
36			// min \|\|x\|\|^2
37
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39	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtEiquadprog<2, 0, 0> qp;
40
41	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Q;
42	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q.setZero();
43	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(0, 0) = 1.0;
44	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(1, 1) = 1.0;
45
46	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d C;
47	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C.setZero();
48
49	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<0, 2>::d Aeq;
50
51	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<0>::d Beq;
52
53	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<0, 2>::d Aineq;
54
55	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<0>::d Bineq;
56
57	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d x;
58
59	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d solution;
60	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution.setZero();
61
62		2	double val = 0.0;
63
64		2	RtEiquadprog_status expected = RT_EIQUADPROG_OPTIMAL;
65
66			RtEiquadprog_status status =
67	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
68
69	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);
70
71	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);
72
73	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));
74		2	}
75
76			// min \|\|x-x_0\|\|^2, x_0 = (1 1)^T
77
78	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) {
79	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtEiquadprog<2, 0, 0> qp;
80
81	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Q;
82	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q.setZero();
83	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(0, 0) = 1.0;
84	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(1, 1) = 1.0;
85
86	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d C;
87	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C(0) = -1.;
88	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C(1) = -1.;
89
90	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<0, 2>::d Aeq;
91
92	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<0>::d Beq;
93
94	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<0, 2>::d Aineq;
95
96	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<0>::d Bineq;
97
98	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d x;
99
100	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d solution;
101	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution(0) = 1.;
102	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution(1) = 1.;
103
104		2	double val = -1.;
105
106		2	RtEiquadprog_status expected = RT_EIQUADPROG_OPTIMAL;
107
108			RtEiquadprog_status status =
109	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
110
111	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);
112
113	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);
114
115	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));
116		2	}
117
118			// min \|\|x\|\|^2
119			// s.t.
120			// x[1] = 1 - x[0]
121
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123	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtEiquadprog<2, 1, 0> qp;
124
125	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Q;
126	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q.setZero();
127	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(0, 0) = 1.0;
128	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(1, 1) = 1.0;
129
130	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d C;
131	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C.setZero();
132
133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<1, 2>::d Aeq;
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aeq(0, 0) = 1.;
135	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aeq(0, 1) = 1.;
136
137	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<1>::d Beq;
138	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Beq(0) = -1.;
139
140	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<0, 2>::d Aineq;
141
142	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<0>::d Bineq;
143
144	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d x;
145
146	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d solution;
147	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution(0) = 0.5;
148	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution(1) = 0.5;
149
150		2	double val = 0.25;
151
152		2	RtEiquadprog_status expected = RT_EIQUADPROG_OPTIMAL;
153
154			RtEiquadprog_status status =
155	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
156
157	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);
158
159	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);
160
161	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));
162		2	}
163
164			// min \|\|x\|\|^2
165			// s.t.
166			// x[i] >= 1
167
168	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_inequality_constraints) {
169	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtEiquadprog<2, 0, 2> qp;
170
171	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Q;
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q.setZero();
173	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(0, 0) = 1.0;
174	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(1, 1) = 1.0;
175
176	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d C;
177	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C.setZero();
178
179	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<0, 2>::d Aeq;
180
181	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<0>::d Beq(0);
182
183	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Aineq;
184	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq.setZero();
185	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq(0, 0) = 1.;
186	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq(1, 1) = 1.;
187
188	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d Bineq;
189	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Bineq(0) = -1.;
190	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Bineq(1) = -1.;
191
192	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d x;
193
194	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d solution;
195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution(0) = 1.;
196	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution(1) = 1.;
197
198		2	double val = 1.;
199
200		2	RtEiquadprog_status expected = RT_EIQUADPROG_OPTIMAL;
201
202			RtEiquadprog_status status =
203	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
204
205	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);
206
207	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);
208
209	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));
210		2	}
211
212			// min \|\|x-x_0\|\|^2, x_0 = (1 1)^T
213			// s.t.
214			// x[1] = 5 - x[0]
215			// x[1] >= 3
216
217	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_full) {
218	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtEiquadprog<2, 1, 1> qp;
219
220	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Q;
221	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q.setZero();
222	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(0, 0) = 1.0;
223	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(1, 1) = 1.0;
224
225	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d C;
226	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C(0) = -1.;
227	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C(1) = -1.;
228
229	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<1, 2>::d Aeq;
230	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aeq(0, 0) = 1.;
231	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aeq(0, 1) = 1.;
232
233	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<1>::d Beq;
234	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Beq(0) = -5.;
235
236	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<1, 2>::d Aineq;
237	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq.setZero();
238	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq(0, 1) = 1.;
239
240	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<1>::d Bineq;
241	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Bineq(0) = -3.;
242
243	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d x;
244
245	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d solution;
246	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution(0) = 2.;
247	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution(1) = 3.;
248
249		2	double val = 1.5;
250
251		2	RtEiquadprog_status expected = RT_EIQUADPROG_OPTIMAL;
252
253			RtEiquadprog_status status =
254	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
255
256	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);
257
258	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);
259
260	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));
261		2	}
262
263			// min \|\|x\|\|^2
264			// s.t.
265			// x[0] = 1
266			// x[0] = -1
267
268	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_unfeasible_equalities) {
269	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtEiquadprog<2, 2, 0> qp;
270
271	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Q;
272	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q.setZero();
273	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(0, 0) = 1.0;
274	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(1, 1) = 1.0;
275
276	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d C;
277	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C.setZero();
278
279	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Aeq;
280	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aeq.setZero();
281	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aeq(0, 0) = 1.;
282	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aeq(1, 0) = 1.;
283
284	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d Beq;
285	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Beq(0) = -1.;
286	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Beq(1) = 1.;
287
288	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<0, 2>::d Aineq;
289
290	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<0>::d Bineq;
291
292	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d x;
293
294		2	RtEiquadprog_status expected = RT_EIQUADPROG_REDUNDANT_EQUALITIES;
295
296			RtEiquadprog_status status =
297	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
298
299	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);
300		2	}
301
302			// min \|\|x\|\|^2
303			// s.t.
304			// x[0] >= 1
305			// x[0] <= -1
306			//
307			// correctly fails, but returns wrong error code
308
309	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_unfeasible_inequalities) {
310	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtEiquadprog<2, 0, 2> qp;
311
312	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Q;
313	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q.setZero();
314	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(0, 0) = 1.0;
315	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(1, 1) = 1.0;
316
317	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d C;
318	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C.setZero();
319
320	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<0, 2>::d Aeq;
321
322	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<0>::d Beq;
323
324	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Aineq;
325	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq.setZero();
326	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq(0, 0) = 1.;
327	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq(1, 0) = -1.;
328
329	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d Bineq;
330	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Bineq(0) = -1;
331	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Bineq(1) = -1;
332
333	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d x;
334
335		2	RtEiquadprog_status expected = RT_EIQUADPROG_INFEASIBLE;
336
337			RtEiquadprog_status status =
338	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
339
340	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_WARN_EQUAL(status, expected);
341	6/12 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(status != RT_EIQUADPROG_OPTIMAL);
342		2	}
343
344			// min \|\|x-x_0\|\|^2, x_0 = (1 1)^T
345			// s.t.
346			// x[1] = 1 - x[0]
347			// x[0] <= 0
348			// x[1] <= 0
349			//
350			// correctly fails, but returns wrong error code
351
352	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_unfeasible_constraints) {
353	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtEiquadprog<2, 1, 2> qp;
354
355	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Q;
356	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q.setZero();
357	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(0, 0) = 1.0;
358	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(1, 1) = 1.0;
359
360	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d C;
361	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C(0) = -1.;
362	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C(1) = -1.;
363
364	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<1, 2>::d Aeq;
365	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aeq(0, 0) = 1.;
366	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aeq(0, 1) = 1.;
367
368	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<1>::d Beq;
369	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Beq(0) = -1.;
370
371	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Aineq;
372	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq.setZero();
373	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq(0, 0) = -1.;
374	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq(1, 1) = -1.;
375
376	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d Bineq;
377	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Bineq.setZero();
378
379	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d x;
380
381		2	RtEiquadprog_status expected = RT_EIQUADPROG_INFEASIBLE;
382
383			RtEiquadprog_status status =
384	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
385
386	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_WARN_EQUAL(status, expected);
387	6/12 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_CHECK(status != RT_EIQUADPROG_OPTIMAL);
388		2	}
389
390			// min -\|\|x\|\|^2
391			// DOES NOT WORK!
392
393	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_unbounded) {
394	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtEiquadprog<2, 0, 0> qp;
395
396	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Q;
397	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q.setZero();
398	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(0, 0) = -1.0;
399	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(1, 1) = -1.0;
400
401	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d C;
402	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C.setZero();
403
404	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<0, 2>::d Aeq;
405
406	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<0>::d Beq;
407
408	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<0, 2>::d Aineq;
409
410	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<0>::d Bineq;
411
412	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d x;
413
414		2	RtEiquadprog_status expected = RT_EIQUADPROG_UNBOUNDED;
415
416			RtEiquadprog_status status =
417	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
418
419	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_WARN_EQUAL(status, expected);
420	6/12 ✓ 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 14 taken 1 times. ✗ Branch 15 not taken. ✓ Branch 17 taken 1 times. ✗ Branch 18 not taken. ✗ Branch 22 not taken. ✓ Branch 23 taken 1 times.	2	BOOST_WARN(status != RT_EIQUADPROG_OPTIMAL); // SHOULD pass!
421		2	}
422
423			// min -\|\|x\|\|^2
424			// s.t.
425			// 0<= x[0] <= 1
426			// 0<= x[1] <= 1
427			// DOES NOT WORK!
428
429	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_nonconvex) {
430	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtEiquadprog<2, 0, 4> qp;
431
432	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<2, 2>::d Q;
433	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q.setZero();
434	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(0, 0) = -1.0;
435	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Q(1, 1) = -1.0;
436
437	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d C;
438	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	C.setZero();
439
440	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<0, 2>::d Aeq;
441
442	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<0>::d Beq;
443
444	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtMatrixX<4, 2>::d Aineq(4, 2);
445	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq.setZero();
446	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq(0, 0) = 1.;
447	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq(1, 0) = -1.;
448	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq(2, 1) = 1.;
449	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Aineq(3, 1) = -1.;
450
451	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<4>::d Bineq;
452	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Bineq(0) = 0.;
453	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Bineq(1) = 1.;
454	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Bineq(2) = 0.;
455	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	Bineq(3) = 1.;
456
457	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d x;
458
459	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	RtVectorX<2>::d solution;
460	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution(0) = 1.;
461	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	solution(1) = 1.;
462
463		2	double val = -1.;
464
465		2	RtEiquadprog_status expected = RT_EIQUADPROG_OPTIMAL;
466
467			RtEiquadprog_status status =
468	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
469
470	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);
471
472	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_WARN_CLOSE(qp.getObjValue(), val, 1e-6);
473
474	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_WARN(x.isApprox(solution));
475		2	}
476
477			BOOST_AUTO_TEST_SUITE_END()
478