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// |
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// Copyright (c) 2017 CNRS |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#include <iostream> |
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#include <boost/test/unit_test.hpp> |
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#include <boost/utility/binary.hpp> |
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#include <tsid/math/constraint-bound.hpp> |
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#include <tsid/math/constraint-equality.hpp> |
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#include <tsid/math/constraint-inequality.hpp> |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_constraint_bounds) { |
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std::cout << "test_constraint_bounds\n"; |
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using namespace tsid::math; |
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using namespace Eigen; |
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const unsigned int n = 5; |
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VectorXd lb = -1.0 * VectorXd::Ones(n); |
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VectorXd ub = VectorXd::Ones(n); |
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ConstraintBound bounds("bounds", lb, ub); |
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BOOST_CHECK(bounds.isBound()); |
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BOOST_CHECK(!bounds.isEquality()); |
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BOOST_CHECK(!bounds.isInequality()); |
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BOOST_CHECK(bounds.rows() == n); |
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BOOST_CHECK(bounds.cols() == n); |
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BOOST_CHECK(lb.isApprox(bounds.lowerBound())); |
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BOOST_CHECK(ub.isApprox(bounds.upperBound())); |
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lb *= 2.0; |
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BOOST_CHECK(!lb.isApprox(bounds.lowerBound())); |
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bounds.setLowerBound(lb); |
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BOOST_CHECK(lb.isApprox(bounds.lowerBound())); |
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ub *= 2.0; |
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BOOST_CHECK(!ub.isApprox(bounds.upperBound())); |
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bounds.setUpperBound(ub); |
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BOOST_CHECK(ub.isApprox(bounds.upperBound())); |
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} |
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BOOST_AUTO_TEST_CASE(test_constraint_equality) { |
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using namespace tsid::math; |
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using namespace Eigen; |
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using namespace std; |
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const unsigned int n = 5; |
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const unsigned int m = 2; |
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MatrixXd A = MatrixXd::Ones(m, n); |
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VectorXd b = VectorXd::Ones(m); |
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ConstraintEquality equality("equality", A, b); |
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BOOST_CHECK(!equality.isBound()); |
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BOOST_CHECK(equality.isEquality()); |
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BOOST_CHECK(!equality.isInequality()); |
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BOOST_CHECK(equality.rows() == m); |
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BOOST_CHECK(equality.cols() == n); |
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BOOST_CHECK(A.isApprox(equality.matrix())); |
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BOOST_CHECK(b.isApprox(equality.vector())); |
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b *= 2.0; |
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BOOST_CHECK(!b.isApprox(equality.vector())); |
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equality.setVector(b); |
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BOOST_CHECK(b.isApprox(equality.vector())); |
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A *= 2.0; |
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BOOST_CHECK(!A.isApprox(equality.matrix())); |
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equality.setMatrix(A); |
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BOOST_CHECK(A.isApprox(equality.matrix())); |
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} |
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BOOST_AUTO_TEST_CASE(test_constraint_inequality) { |
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using namespace tsid::math; |
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using namespace Eigen; |
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using namespace std; |
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const unsigned int n = 5; |
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const unsigned int m = 2; |
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MatrixXd A = MatrixXd::Ones(m, n); |
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VectorXd lb = -1.0 * VectorXd::Ones(m); |
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VectorXd ub = VectorXd::Ones(m); |
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ConstraintInequality inequality("inequality", A, lb, ub); |
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BOOST_CHECK(!inequality.isBound()); |
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BOOST_CHECK(!inequality.isEquality()); |
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BOOST_CHECK(inequality.isInequality()); |
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BOOST_CHECK(inequality.rows() == m); |
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BOOST_CHECK(inequality.cols() == n); |
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BOOST_CHECK(A.isApprox(inequality.matrix())); |
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BOOST_CHECK(lb.isApprox(inequality.lowerBound())); |
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BOOST_CHECK(ub.isApprox(inequality.upperBound())); |
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lb *= 2.0; |
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BOOST_CHECK(!lb.isApprox(inequality.lowerBound())); |
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inequality.setLowerBound(lb); |
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BOOST_CHECK(lb.isApprox(inequality.lowerBound())); |
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A *= 2.0; |
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BOOST_CHECK(!A.isApprox(inequality.matrix())); |
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inequality.setMatrix(A); |
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BOOST_CHECK(A.isApprox(inequality.matrix())); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
Generated by: GCOVR (Version 4.2) |