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fix LPSolver unittest

release/4.3a0
thduynguyen 2014-12-09 16:26:19 -05:00
parent 57aae7f7b1
commit 9b418c98ca
1 changed files with 13 additions and 12 deletions
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25
gtsam_unstable/linear/tests/testLPSolver.cpp
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@ -10,6 +10,7 @@
#include <boost/range/adaptor/map.hpp>
#include <gtsam/inference/Symbol.h>
#include <gtsam_unstable/linear/LPSolver.h>
#include <gtsam_unstable/linear/LinearInequalityFactorGraph.h>
using namespace std;
using namespace gtsam;
@ -20,19 +21,19 @@ TEST(LPSolver, oneD) {
objCoeffs.insert(Y(1), repeat(1, -5.0));
objCoeffs.insert(X(2), repeat(1, -4.0));
objCoeffs.insert(X(3), repeat(1, -6.0));
JacobianFactor constraint(
LinearInequality inequality(
Y(1), (Matrix(3,1)<< 1,3,3),
X(2), (Matrix(3,1)<< -1,2,2),
X(3), (Matrix(3,1)<< 1,4,0), (Vector(3)<<20,42,30),
noiseModel::Constrained::MixedSigmas((Vector(3)<<-1,-1,-1)));
X(3), (Matrix(3,1)<< 1,4,0), (Vector(3)<<20,42,30), 0);
VectorValues lowerBounds;
lowerBounds.insert(Y(1), zero(1));
lowerBounds.insert(X(2), zero(1));
lowerBounds.insert(X(3), zero(1));
GaussianFactorGraph::shared_ptr constraints(new GaussianFactorGraph);
constraints->push_back(constraint);
LinearInequalityFactorGraph::shared_ptr inequalities(new LinearInequalityFactorGraph);
inequalities->push_back(inequality);
LinearEqualityFactorGraph::shared_ptr equalities(new LinearEqualityFactorGraph);
LPSolver solver(objCoeffs, constraints, lowerBounds);
LPSolver solver(objCoeffs, equalities, inequalities, lowerBounds);
vector<int> columnNo = solver.buildColumnNo(objCoeffs | boost::adaptors::map_keys);
LONGS_EQUAL(3, columnNo.size());
LONGS_EQUAL(1, columnNo[0]);
@ -64,16 +65,16 @@ TEST(LPSolver, oneD) {
TEST(LPSolver, threeD) {
VectorValues objCoeffs;
objCoeffs.insert(X(1), (Vector(3)<<-5.0, -4.0, -6.0));
JacobianFactor constraint(
X(1), (Matrix(3,3)<< 1,-1,1,3,2,4,3,2,0), (Vector(3)<<20,42,30),
noiseModel::Constrained::MixedSigmas((Vector(3)<<-1,-1,-1)));
LinearInequality inequality(
X(1), (Matrix(3,3)<< 1,-1,1,3,2,4,3,2,0), (Vector(3)<<20,42,30), 0);
VectorValues lowerBounds;
lowerBounds.insert(X(1), zeros(3,1));
GaussianFactorGraph::shared_ptr constraints(new GaussianFactorGraph);
constraints->push_back(constraint);
LinearInequalityFactorGraph::shared_ptr inequalities(new LinearInequalityFactorGraph);
inequalities->push_back(inequality);
LinearEqualityFactorGraph::shared_ptr equalities(new LinearEqualityFactorGraph);
LPSolver solver(objCoeffs, constraints, lowerBounds);
LPSolver solver(objCoeffs, equalities, inequalities, lowerBounds);
vector<int> columnNo = solver.buildColumnNo(objCoeffs | boost::adaptors::map_keys);
LONGS_EQUAL(3, columnNo.size());
LONGS_EQUAL(1, columnNo[0]);