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matlab code to reproduce test results

release/4.3a0
thduynguyen 2014-08-05 21:55:09 -04:00
parent 4037d1ec1a
commit 47ed9f3687
1 changed files with 24 additions and 6 deletions
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30
gtsam/linear/tests/testQPSolver.cpp
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@ -250,10 +250,28 @@ TEST(QPSolver, optimizeNocedal06bookEx16_4) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
// Create test graph as in Nocedal06book, Ex 16.4, pg. 475 /* Create test graph as in Nocedal06book, Ex 16.4, pg. 475
// with the first constraint (16.49b) is replaced by with the first constraint (16.49b) is replaced by
// x1 - 2 x2 - 1 >=0 x1 - 2 x2 - 1 >=0
// so that the trivial initial point (0,0) is infeasible so that the trivial initial point (0,0) is infeasible
====
H = [2 0; 0 2];
f = [-2; -5];
A =[-1 2;
1 2
1 -2];
b = [-1; 6; 2];
lb = zeros(2,1);
opts = optimoptions('quadprog','Algorithm','active-set','Display','off');
[x,fval,exitflag,output,lambda] = ...
quadprog(H,f,A,b,[],[],lb,[],[],opts);
====
x =
2.0000
0.5000
*/
GaussianFactorGraph modifyNocedal06bookEx16_4() { GaussianFactorGraph modifyNocedal06bookEx16_4() {
GaussianFactorGraph graph; GaussianFactorGraph graph;
@ -355,8 +373,8 @@ TEST(QPSolver, failedSubproblem) {
QPSolver solver(graph); QPSolver solver(graph);
VectorValues solution; VectorValues solution;
boost::tie(solution, boost::tuples::ignore) = solver.optimize(); boost::tie(solution, boost::tuples::ignore) = solver.optimize();
graph.print("Graph: "); // graph.print("Graph: ");
solution.print("Solution: "); // solution.print("Solution: ");
CHECK(assert_equal(expected, solution, 1e-7)); CHECK(assert_equal(expected, solution, 1e-7));
} }