374 lines
12 KiB
C++
374 lines
12 KiB
C++
/**
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* @file testNonlinearConstraint.cpp
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* @brief Tests for nonlinear constraints handled via SQP
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* @author Alex Cunningham
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*/
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#include <list>
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#include <boost/bind.hpp>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/assign/std/list.hpp> // for operator +=
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#define GTSAM_MAGIC_KEY
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#include <VectorConfig.h>
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#include <NonlinearConstraint.h>
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#include <NonlinearConstraint-inl.h>
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#include <TupleConfig-inl.h>
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using namespace std;
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using namespace gtsam;
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using namespace boost::assign;
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typedef TypedSymbol<Vector, 'x'> Key;
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typedef LieConfig<Key, Vector> VecConfig;
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typedef NonlinearConstraint1<VecConfig, Key, Vector> NLC1;
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typedef NonlinearConstraint2<VecConfig, Key, Vector, Key, Vector> NLC2;
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/* ************************************************************************* */
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// unary functions with scalar variables
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/* ************************************************************************* */
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namespace test1 {
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/** p = 1, g(x) = x^2-5 = 0 */
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Vector g(const VecConfig& config, const list<Key>& keys) {
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double x = config[keys.front()](0);
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return Vector_(1, x * x - 5);
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}
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/** p = 1, jacobianG(x) = 2x */
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Matrix G(const VecConfig& config, const list<Key>& keys) {
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double x = config[keys.front()](0);
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return Matrix_(1, 1, 2 * x);
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}
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} // \namespace test1
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/* ************************************************************************* */
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TEST( NonlinearConstraint1, unary_scalar_construction ) {
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// construct a constraint on x
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size_t p = 1;
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Key x1(1);
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list<Key> keys; keys += x1;
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NLC1 c1(boost::bind(test1::g, _1, keys),
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x1, boost::bind(test1::G, _1, keys),
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p, 10.0);
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// get a configuration to use for finding the error
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VecConfig config;
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config.insert(x1, Vector_(1, 1.0));
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// calculate the error
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Vector actualVec = c1.unwhitenedError(config);
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Vector expectedVec = Vector_(1, -4.0);
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CHECK(assert_equal(actualVec, expectedVec, 1e-5));
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double actError = c1.error(config);
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double expError = 160.0;
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DOUBLES_EQUAL(expError, actError, 1e-5);
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}
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/* ************************************************************************* */
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TEST( NonlinearConstraint1, unary_scalar_linearize ) {
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size_t p = 1;
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Key x1(1);
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list<Key> keys; keys += x1;
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NLC1 c1(boost::bind(test1::g, _1, keys),
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x1, boost::bind(test1::G, _1, keys),
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p);
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// get a configuration to use for linearization
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VecConfig realconfig;
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realconfig.insert(x1, Vector_(1, 1.0));
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// linearize the system
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GaussianFactor::shared_ptr linfactor = c1.linearize(realconfig);
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// verify
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SharedDiagonal model = noiseModel::Constrained::All(p);
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Matrix Ax1 = Matrix_(p,1, 2.0);
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Vector rhs = Vector_(p, 4.0);
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GaussianFactor expectedFactor(x1, Ax1, rhs, model);
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CHECK(assert_equal(*linfactor, expectedFactor));
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}
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/* ************************************************************************* */
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TEST( NonlinearConstraint1, unary_scalar_equal ) {
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Key x(0), y(1);
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list<Key> keys1, keys2; keys1 += x; keys2 += y;
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NLC1
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c1(boost::bind(test1::g, _1, keys1), x, boost::bind(test1::G, _1, keys1), 1),
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c2(boost::bind(test1::g, _1, keys1), x, boost::bind(test1::G, _1, keys1), 1),
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c3(boost::bind(test1::g, _1, keys1), x, boost::bind(test1::G, _1, keys1), 2),
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c4(boost::bind(test1::g, _1, keys2), y, boost::bind(test1::G, _1, keys2), 1);
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CHECK(assert_equal(c1, c2));
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CHECK(assert_equal(c2, c1));
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CHECK(!c1.equals(c3));
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CHECK(!c1.equals(c4));
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}
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/* ************************************************************************* */
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// binary functions with scalar variables
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/* ************************************************************************* */
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namespace test2 {
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/** p = 1, g(x) = x^2-5 -y = 0 */
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Vector g(const VecConfig& config, const list<Key>& keys) {
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double x = config[keys.front()](0);
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double y = config[keys.back()](0);
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return Vector_(1, x * x - 5.0 - y);
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}
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/** jacobian for x, jacobianG(x,y) in x: 2x*/
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Matrix G1(const VecConfig& config, const list<Key>& keys) {
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double x = config[keys.front()](0);
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return Matrix_(1, 1, 2.0 * x);
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}
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/** jacobian for y, jacobianG(x,y) in y: -1 */
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Matrix G2(const VecConfig& config, const list<Key>& keys) {
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return Matrix_(1, 1, -1.0);
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}
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} // \namespace test2
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/* ************************************************************************* */
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TEST( NonlinearConstraint2, binary_scalar_construction ) {
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// construct a constraint on x and y
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size_t p = 1;
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Key x0(0), x1(1);
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list<Key> keys; keys += x0, x1;
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NLC2 c1(
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boost::bind(test2::g, _1, keys),
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x0, boost::bind(test2::G1, _1, keys),
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x1, boost::bind(test2::G1, _1, keys),
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p);
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// get a configuration to use for finding the error
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VecConfig config;
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config.insert(x0, Vector_(1, 1.0));
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config.insert(x1, Vector_(1, 2.0));
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// calculate the error
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Vector actual = c1.unwhitenedError(config);
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Vector expected = Vector_(1.0, -6.0);
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CHECK(assert_equal(actual, expected, 1e-5));
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}
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/* ************************************************************************* */
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TEST( NonlinearConstraint2, binary_scalar_linearize ) {
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// create a constraint
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size_t p = 1;
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Key x0(0), x1(1);
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list<Key> keys; keys += x0, x1;
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NLC2 c1(
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boost::bind(test2::g, _1, keys),
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x0, boost::bind(test2::G1, _1, keys),
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x1, boost::bind(test2::G2, _1, keys),
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p);
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// get a configuration to use for finding the error
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VecConfig realconfig;
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realconfig.insert(x0, Vector_(1, 1.0));
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realconfig.insert(x1, Vector_(1, 2.0));
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// linearize the system
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GaussianFactor::shared_ptr actualFactor = c1.linearize(realconfig);
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// verify
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Matrix Ax0 = Matrix_(1,1, 2.0),
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Ax1 = Matrix_(1,1,-1.0);
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Vector rhs = Vector_(1, 6.0);
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SharedDiagonal expModel = noiseModel::Constrained::All(p);
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GaussianFactor expFactor(x0,Ax0, x1, Ax1,rhs, expModel);
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CHECK(assert_equal(expFactor, *actualFactor));
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}
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/* ************************************************************************* */
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TEST( NonlinearConstraint2, binary_scalar_equal ) {
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list<Key> keys1, keys2, keys3;
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Key x0(0), x1(1), x2(2);
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keys1 += x0, x1; keys2 += x1, x0; keys3 += x0;
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NLC2
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c1(boost::bind(test2::g, _1, keys1), x0, boost::bind(test2::G1, _1, keys1), x1, boost::bind(test2::G2, _1, keys1), 1),
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c2(boost::bind(test2::g, _1, keys1), x0, boost::bind(test2::G1, _1, keys1), x1, boost::bind(test2::G2, _1, keys1), 1),
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c3(boost::bind(test2::g, _1, keys2), x1, boost::bind(test2::G1, _1, keys2), x0, boost::bind(test2::G2, _1, keys2), 1),
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c4(boost::bind(test2::g, _1, keys3), x0, boost::bind(test2::G1, _1, keys3), x2, boost::bind(test2::G2, _1, keys3), 3);
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CHECK(assert_equal(c1, c2));
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CHECK(assert_equal(c2, c1));
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CHECK(!c1.equals(c3));
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CHECK(!c1.equals(c4));
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}
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/* ************************************************************************* */
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// Inequality tests - DISABLED
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/* ************************************************************************* */
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//namespace inequality1 {
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//
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// /** p = 1, g(x) x^2 - 5 > 0 */
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// Vector g(const VecConfig& config, const Key& key) {
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// double x = config[key](0);
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// double g = x * x - 5;
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// return Vector_(1, g); // return the actual cost
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// }
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//
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// /** p = 1, jacobianG(x) = 2*x */
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// Matrix G(const VecConfig& config, const Key& key) {
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// double x = config[key](0);
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// return Matrix_(1, 1, 2 * x);
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// }
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//
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//} // \namespace inequality1
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//
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///* ************************************************************************* */
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//TEST( NonlinearConstraint1, unary_inequality ) {
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// size_t p = 1;
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// Key x0(0);
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// NLC1 c1(boost::bind(inequality1::g, _1, x0),
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// x0, boost::bind(inequality1::G, _1, x0),
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// p, false); // inequality constraint
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//
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// // get configurations to use for evaluation
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// VecConfig config1, config2;
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// config1.insert(x0, Vector_(1, 10.0)); // should be inactive
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// config2.insert(x0, Vector_(1, 1.0)); // should have nonzero error
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//
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// // check error
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// CHECK(!c1.active(config1));
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// Vector actualError2 = c1.unwhitenedError(config2);
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// CHECK(assert_equal(actualError2, Vector_(1, -4.0, 1e-9)));
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// CHECK(c1.active(config2));
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//}
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//
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///* ************************************************************************* */
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//TEST( NonlinearConstraint1, unary_inequality_linearize ) {
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// size_t p = 1;
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// Key x0(0);
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// NLC1 c1(boost::bind(inequality1::g, _1, x0),
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// x0, boost::bind(inequality1::G, _1, x0),
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// p, false); // inequality constraint
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//
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// // get configurations to use for linearization
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// VecConfig config1, config2;
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// config1.insert(x0, Vector_(1, 10.0)); // should have zero error
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// config2.insert(x0, Vector_(1, 1.0)); // should have nonzero error
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//
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// // linearize for inactive constraint
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// GaussianFactor::shared_ptr actualFactor1 = c1.linearize(config1);
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//
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// // check if the factor is active
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// CHECK(!c1.active(config1));
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//
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// // linearize for active constraint
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// GaussianFactor::shared_ptr actualFactor2 = c1.linearize(config2);
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// CHECK(c1.active(config2));
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//
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// // verify
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// Vector sigmas = Vector_(2, 1.0, 0.0);
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// SharedDiagonal model = noiseModel::Constrained::MixedSigmas(sigmas);
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// GaussianFactor expectedFactor(x0, Matrix_(2,1, 6.0, 2.0),
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// L1, Matrix_(2,1, 1.0, 0.0),
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// Vector_(2, 0.0, 4.0), model);
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//
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// CHECK(assert_equal(*actualFactor2, expectedFactor));
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//}
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/* ************************************************************************* */
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// Binding arbitrary functions
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/* ************************************************************************* */
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//namespace binding1 {
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//
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// /** p = 1, g(x) x^2 - r > 0 */
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// Vector g(double r, const VecConfig& config, const Key& key) {
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// double x = config[key](0);
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// double g = x * x - r;
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// return Vector_(1, g); // return the actual cost
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// }
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//
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// /** p = 1, jacobianG(x) = 2*x */
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// Matrix G(double coeff, const VecConfig& config,
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// const Key& key) {
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// double x = config[key](0);
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// return Matrix_(1, 1, coeff * x);
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// }
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//
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//} // \namespace binding1
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//
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///* ************************************************************************* */
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//TEST( NonlinearConstraint1, unary_binding ) {
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// size_t p = 1;
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// double coeff = 2;
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// double radius = 5;
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// Key x0(0);
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// NLC1 c1(boost::bind(binding1::g, radius, _1, x0),
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// x0, boost::bind(binding1::G, coeff, _1, x0),
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// p, false); // inequality constraint
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//
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// // get configurations to use for evaluation
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// VecConfig config1, config2;
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// config1.insert(x0, Vector_(1, 10.0)); // should have zero error
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// config2.insert(x0, Vector_(1, 1.0)); // should have nonzero error
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//
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// // check error
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// CHECK(!c1.active(config1));
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// Vector actualError2 = c1.unwhitenedError(config2);
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// CHECK(assert_equal(actualError2, Vector_(1, -4.0, 1e-9)));
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// CHECK(c1.active(config2));
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//}
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/* ************************************************************************* */
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namespace binding2 {
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/** p = 1, g(x) = x^2-5 -y = 0 */
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Vector g(double r, const VecConfig& config, const Key& k1, const Key& k2) {
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double x = config[k1](0);
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double y = config[k2](0);
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return Vector_(1, x * x - r - y);
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}
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/** jacobian for x, jacobianG(x,y) in x: 2x*/
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Matrix G1(double c, const VecConfig& config, const Key& key) {
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double x = config[key](0);
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return Matrix_(1, 1, c * x);
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}
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/** jacobian for y, jacobianG(x,y) in y: -1 */
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Matrix G2(double c, const VecConfig& config) {
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return Matrix_(1, 1, -1.0 * c);
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}
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} // \namespace binding2
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/* ************************************************************************* */
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TEST( NonlinearConstraint2, binary_binding ) {
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// construct a constraint on x and y
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size_t p = 1;
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double a = 2.0;
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double b = 1.0;
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double r = 5.0;
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Key x0(0), x1(1);
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NLC2 c1(boost::bind(binding2::g, r, _1, x0, x1),
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x0, boost::bind(binding2::G1, a, _1, x0),
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x1, boost::bind(binding2::G2, b, _1),
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p);
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// get a configuration to use for finding the error
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VecConfig config;
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config.insert(x0, Vector_(1, 1.0));
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config.insert(x1, Vector_(1, 2.0));
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// calculate the error
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Vector actual = c1.unwhitenedError(config);
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Vector expected = Vector_(1.0, -6.0);
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CHECK(assert_equal(actual, expected, 1e-5));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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