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[REFACTOR] Extract LP.h from LPSolver.cpp 

[REFACTOR] Extract InfeasibleInitialValus.h from LPSolver.cpp
[REFACTOR] Extract InfeasibleOrUnboundedProblem.h from LPSolver.cpp
release/4.3a0
ivan 2016-01-24 19:40:55 -05:00
parent bc3398a6a2
commit 2fa3a56f03
4 changed files with 113 additions and 73 deletions
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34
gtsam_unstable/linear/InfeasibleInitialValues.h Normal file
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/**
* @file InfeasibleInitialValues.h
* @brief Exception thrown when given Infeasible Initial Values.
* @date jan 24, 2015
* @author Duy-Nguyen Ta
*/
#pragma once
namespace gtsam {
/* ************************************************************************* */
/** An exception indicating that the provided initial value is infeasible */
class InfeasibleInitialValues: public ThreadsafeException<
InfeasibleInitialValues> {
public:
InfeasibleInitialValues() {
}
virtual ~InfeasibleInitialValues() throw () {
}
virtual const char *what() const throw () {
if (description_.empty())
description_ =
"An infeasible initial value was provided for the solver.\n";
return description_.c_str();
}
private:
mutable std::string description_;
};
}

28
gtsam_unstable/linear/InfeasibleOrUnboundedProblem.h Normal file
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/**
* @file InfeasibleOrUnboundedProblem.h
* @brief Throw when the problem is either infeasible or unbounded
* @author Ivan Dario Jimenez
* @date 1/24/16
*/
namespace gtsam {
class InfeasibleOrUnboundedProblem: public ThreadsafeException<
InfeasibleOrUnboundedProblem> {
public:
InfeasibleOrUnboundedProblem() {
}
virtual ~InfeasibleOrUnboundedProblem() throw () {
}
virtual const char* what() const throw () {
if (description_.empty())
description_ = "The problem is either infeasible or unbounded.\n";
return description_.c_str();
}
private:
mutable std::string description_;
};
}

46
gtsam_unstable/linear/LP.h Normal file
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/**
* @file LP.h
* @brief Struct used to hold a Linear Programming Problem
* @author Ivan Dario Jimenez
* @date 1/24/16
*/
#pragma once
#include <string>
namespace gtsam {
using namespace std;
struct LP {
LinearCost cost; //!< Linear cost factor
EqualityFactorGraph equalities; //!< Linear equality constraints: cE(x) = 0
InequalityFactorGraph inequalities; //!< Linear inequality constraints: cI(x) <= 0
/// check feasibility
bool isFeasible(const VectorValues& x) const {
return (equalities.error(x) == 0 && inequalities.error(x) == 0);
}
/// print
void print(const string& s = "") const {
std::cout << s << std::endl;
cost.print("Linear cost: ");
equalities.print("Linear equality factors: ");
inequalities.print("Linear inequality factors: ");
}
/// equals
bool equals(const LP& other, double tol = 1e-9) const {
return cost.equals(other.cost) && equalities.equals(other.equalities)
&& inequalities.equals(other.inequalities);
}
typedef boost::shared_ptr<LP> shared_ptr;
};
/// traits
template<> struct traits<LP> : public Testable<LP> {
};
}

78
gtsam_unstable/linear/tests/testLPSolver.cpp
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@ -24,89 +24,21 @@
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam_unstable/linear/EqualityFactorGraph.h>
#include <gtsam_unstable/linear/InequalityFactorGraph.h>
#include <gtsam_unstable/linear/InfeasibleInitialValues.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/foreach.hpp>
#include <boost/range/adaptor/map.hpp>
#include <gtsam_unstable/linear/InfeasibleInitialValues.h>
#include <gtsam_unstable/linear/InfeasibleOrUnboundedProblem.h>
#include <gtsam_unstable/linear/LP.h>
using namespace std;
using namespace gtsam;
using namespace gtsam::symbol_shorthand;
namespace gtsam {
/* ************************************************************************* */
/** An exception indicating that the provided initial value is infeasible */
class InfeasibleInitialValues: public ThreadsafeException<
InfeasibleInitialValues> {
public:
InfeasibleInitialValues() {
}
virtual ~InfeasibleInitialValues() throw () {
}
virtual const char* what() const throw () {
if (description_.empty()) description_ =
"An infeasible initial value was provided for the solver.\n";
return description_.c_str();
}
private:
mutable std::string description_;
};
/// Throw when the problem is either infeasible or unbounded
class InfeasibleOrUnboundedProblem: public ThreadsafeException<
InfeasibleOrUnboundedProblem> {
public:
InfeasibleOrUnboundedProblem() {
}
virtual ~InfeasibleOrUnboundedProblem() throw () {
}
virtual const char* what() const throw () {
if (description_.empty()) description_ =
"The problem is either infeasible or unbounded.\n";
return description_.c_str();
}
private:
mutable std::string description_;
};
struct LP {
LinearCost cost; //!< Linear cost factor
EqualityFactorGraph equalities; //!< Linear equality constraints: cE(x) = 0
InequalityFactorGraph inequalities; //!< Linear inequality constraints: cI(x) <= 0
/// check feasibility
bool isFeasible(const VectorValues& x) const {
return (equalities.error(x) == 0 && inequalities.error(x) == 0);
}
/// print
void print(const string& s = "") const {
std::cout << s << std::endl;
cost.print("Linear cost: ");
equalities.print("Linear equality factors: ");
inequalities.print("Linear inequality factors: ");
}
/// equals
bool equals(const LP& other, double tol = 1e-9) const {
return cost.equals(other.cost)
&& equalities.equals(other.equalities)
&& inequalities.equals(other.inequalities);
}
typedef boost::shared_ptr<LP> shared_ptr;
};
/// traits
template<> struct traits<LP> : public Testable<LP> {};
/// This struct holds the state of QPSolver at each iteration
struct LPState {
VectorValues values;