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

release/4.3a0
= 2016-07-01 15:42:23 -04:00
parent 15c6aa210b
commit c98c772017
2 changed files with 30 additions and 0 deletions
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19
examples/Data/QPTEST.QPS Normal file
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@ -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

11
gtsam_unstable/linear/tests/testQPSolver.cpp
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@ -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() {