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Added CQP example from the matlab test, changed the linking to avoid warnings

release/4.3a0
Alex Cunningham 2010-04-23 01:34:40 +00:00
parent bb654a73ac
commit ba63628ecd
2 changed files with 34 additions and 1 deletions
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2
cpp/Makefile.am
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@ -283,7 +283,7 @@ AM_CXXFLAGS = -I$(boost) -fPIC
lib_LTLIBRARIES = libgtsam.la
libgtsam_la_SOURCES = $(sources)
libgtsam_la_CPPFLAGS = $(AM_CXXFLAGS)
libgtsam_la_LDFLAGS = -version-info $(version) ../ldl/libldl.a -L../colamd -lcolamd # -lboost_serialization-mt
libgtsam_la_LDFLAGS = -version-info $(version) -L../colamd -lcolamd -L../ldl -lldl # ../ldl/libldl.a -lboost_serialization-mt
# enable debug if --enable-debug is set in configure
if DEBUG

33
cpp/testMatrix.cpp
View File

@ -966,6 +966,39 @@ TEST( matrix, LDL_factorization ) {
}
/* ************************************************************************* */
// Example of a single Constrained QP problem from the matlab testCQP.m file.
TEST( matrix, CQP_example ) {
Matrix A = Matrix_(3, 2,
-1.0, -1.0,
-2.0, 1.0,
1.0, -1.0);
Matrix At = trans(A),
B = 2.0 * eye(3,3);
Vector b = Vector_(2, 4.0, -2.0),
g = zero(3);
Matrix G = zeros(5,5);
insertSub(G, B, 0, 0);
insertSub(G, A, 0, 3);
insertSub(G, At, 3, 0);
Vector rhs = zero(5);
subInsert(rhs, -1.0*g, 0);
subInsert(rhs, -1.0*b, 3);
// solve the system with the LDL solver
Vector actualFull = solve_ldl(G, rhs);
Vector actual = sub(actualFull, 0, 3);
Vector expected = Vector_(3, 2.0/7.0, 10.0/7.0, -6.0/7.0);
CHECK(assert_equal(expected, actual));
}
/* ************************************************************************* */
int main() {
TestResult tr;