[TEST] added QPTest. Showcases failure to work on indeterminate linear systems.

examples/Data/QPTEST.QPS

@@ -0,0 +1,19 @@
+NAME          QP example
+ROWS
+ N  obj
+ G  r1
+ L  r2
+COLUMNS
+    c1        r1                 2.0   r2                -1.0
+    c1        obj                1.5
+    c2        r1                 1.0   r2                 2.0
+    c2        obj               -2.0
+RHS
+    rhs1      r1                 2.0   r2                 6.0
+BOUNDS
+ UP bnd1      c1                20.0
+QUADOBJ
+    c1        c1                 8.0
+    c1        c2                 2.0
+    c2        c2                10.0
+ENDATA

gtsam_unstable/linear/tests/testQPSolver.cpp

@@ -367,6 +367,17 @@ TEST_DISABLED(QPSolver, CONT_050) { // Fails with Indeterminant Linear System er
   CHECK(assert_equal(-4.56385090,error_actual, 1e-7))
 }
 
+TEST(QPSolver, QPTEST) { // Fails with Indeterminant Linear System error
+  QP problem = QPSParser("QPTEST.QPS").Parse();
+  GTSAM_PRINT(problem.cost);
+  GTSAM_PRINT(problem.equalities);
+  GTSAM_PRINT(problem.inequalities);
+  VectorValues actualSolution;
+  boost::tie(actualSolution, boost::tuples::ignore) = QPSolver(problem).optimize();
+  double error_actual = problem.cost.error(actualSolution);
+  CHECK(assert_equal(0.437187500e01,error_actual, 1e-7))
+}
+
 /* ************************************************************************* */
 // Create Matlab's test graph as in http://www.mathworks.com/help/optim/ug/quadprog.html
 QP createTestMatlabQPEx() {