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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	tests/eiquadprog-both.cpp	Lines:	73	73	100.0 %
Date:	2023-11-29 12:38:05	Branches:	205	410	50.0 %


//
// Copyright (c) 2020 CNRS
//
// This file is part of eiquadprog.
//
// eiquadprog is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
//(at your option) any later version.

// eiquadprog is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public License
// along with eiquadprog.  If not, see <https://www.gnu.org/licenses/>.

#include <Eigen/Core>
#include <boost/test/unit_test.hpp>
#include <iostream>

#include "eiquadprog/eiquadprog-fast.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||^2

BOOST_AUTO_TEST_CASE(test_unbiased) {
  EiquadprogFast qp;
  qp.reset(2, 0, 0);

  Eigen::MatrixXd Q(2, 2);
  Q.setZero();
  Q(0, 0) = 1.0;
  Q(1, 1) = 1.0;

  Eigen::VectorXd C(2);
  C.setZero();

  Eigen::MatrixXd Aeq(0, 2);

  Eigen::VectorXd Beq(0);

  Eigen::MatrixXd Aineq(0, 2);

  Eigen::VectorXd Bineq(0);

  Eigen::VectorXd x(2);

  Eigen::VectorXd solution(2);
  solution.setZero();

  double val = 0.0;

  EiquadprogFast_status expected = EIQUADPROG_FAST_OPTIMAL;

  EiquadprogFast_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));
}

// min ||x-x_0||^2, x_0 = (1 1)^T

BOOST_AUTO_TEST_CASE(test_biased) {
  RtEiquadprog<2, 0, 0> 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<0, 2>::d Aeq;

  RtVectorX<0>::d Beq;

  RtMatrixX<0, 2>::d Aineq;

  RtVectorX<0>::d Bineq;

  RtVectorX<2>::d x;

  RtVectorX<2>::d solution;
  solution(0) = 1.;
  solution(1) = 1.;

  double val = -1.;

  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));
}

// min ||x||^2
//    s.t.
// x[1] = 1 - x[0]

BOOST_AUTO_TEST_CASE(test_equality_constraints) {
  RtEiquadprog<2, 1, 0> qp;

  RtMatrixX<2, 2>::d Q;
  Q.setZero();
  Q(0, 0) = 1.0;
  Q(1, 1) = 1.0;

  RtVectorX<2>::d C;
  C.setZero();

  RtMatrixX<1, 2>::d Aeq;
  Aeq(0, 0) = 1.;
  Aeq(0, 1) = 1.;

  RtVectorX<1>::d Beq;
  Beq(0) = -1.;

  RtMatrixX<0, 2>::d Aineq;

  RtVectorX<0>::d Bineq;

  RtVectorX<2>::d x;

  RtVectorX<2>::d solution;
  solution(0) = 0.5;
  solution(1) = 0.5;

  double val = 0.25;

  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()


Generated by: GCOVR (Version 4.2)

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
39	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_unbiased) {
40	✓✗	4	EiquadprogFast qp;
41	✓✗	2	qp.reset(2, 0, 0);
42
43	✓✗	4	Eigen::MatrixXd Q(2, 2);
44	✓✗	2	Q.setZero();
45	✓✗	2	Q(0, 0) = 1.0;
46	✓✗	2	Q(1, 1) = 1.0;
47
48	✓✗	4	Eigen::VectorXd C(2);
49	✓✗	2	C.setZero();
50
51	✓✗	4	Eigen::MatrixXd Aeq(0, 2);
52
53	✓✗	4	Eigen::VectorXd Beq(0);
54
55	✓✗	4	Eigen::MatrixXd Aineq(0, 2);
56
57	✓✗	4	Eigen::VectorXd Bineq(0);
58
59	✓✗	4	Eigen::VectorXd x(2);
60
61	✓✗	4	Eigen::VectorXd solution(2);
62	✓✗	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	✓✗	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
70
71	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(status, expected);
72
73	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_CLOSE(qp.getObjValue(), val, 1e-6);
74
75	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(x.isApprox(solution));
76		2	}
77
78			// min \|\|x-x_0\|\|^2, x_0 = (1 1)^T
79
80	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_biased) {
81	✓✗	4	RtEiquadprog<2, 0, 0> qp;
82
83	✓✗	2	RtMatrixX<2, 2>::d Q;
84	✓✗	2	Q.setZero();
85	✓✗	2	Q(0, 0) = 1.0;
86	✓✗	2	Q(1, 1) = 1.0;
87
88	✓✗	2	RtVectorX<2>::d C;
89	✓✗	2	C(0) = -1.;
90	✓✗	2	C(1) = -1.;
91
92	✓✗	2	RtMatrixX<0, 2>::d Aeq;
93
94	✓✗	2	RtVectorX<0>::d Beq;
95
96	✓✗	2	RtMatrixX<0, 2>::d Aineq;
97
98	✓✗	2	RtVectorX<0>::d Bineq;
99
100	✓✗	2	RtVectorX<2>::d x;
101
102	✓✗	2	RtVectorX<2>::d solution;
103	✓✗	2	solution(0) = 1.;
104	✓✗	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	✓✗	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
112
113	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(status, expected);
114
115	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_CLOSE(qp.getObjValue(), val, 1e-6);
116
117	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(x.isApprox(solution));
118		2	}
119
120			// min \|\|x\|\|^2
121			// s.t.
122			// x[1] = 1 - x[0]
123
124	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(test_equality_constraints) {
125	✓✗	4	RtEiquadprog<2, 1, 0> qp;
126
127	✓✗	2	RtMatrixX<2, 2>::d Q;
128	✓✗	2	Q.setZero();
129	✓✗	2	Q(0, 0) = 1.0;
130	✓✗	2	Q(1, 1) = 1.0;
131
132	✓✗	2	RtVectorX<2>::d C;
133	✓✗	2	C.setZero();
134
135	✓✗	2	RtMatrixX<1, 2>::d Aeq;
136	✓✗	2	Aeq(0, 0) = 1.;
137	✓✗	2	Aeq(0, 1) = 1.;
138
139	✓✗	2	RtVectorX<1>::d Beq;
140	✓✗	2	Beq(0) = -1.;
141
142	✓✗	2	RtMatrixX<0, 2>::d Aineq;
143
144	✓✗	2	RtVectorX<0>::d Bineq;
145
146	✓✗	2	RtVectorX<2>::d x;
147
148	✓✗	2	RtVectorX<2>::d solution;
149	✓✗	2	solution(0) = 0.5;
150	✓✗	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	✓✗	2	qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
158
159	✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK_EQUAL(status, expected);
160
161	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK_CLOSE(qp.getObjValue(), val, 1e-6);
162
163	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓	2	BOOST_CHECK(x.isApprox(solution));
164		2	}
165
166			BOOST_AUTO_TEST_SUITE_END()