93 lines
3.2 KiB
C++
93 lines
3.2 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 <CppUnitLite/TestHarness.h>
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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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using namespace gtsam;
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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, gradG(x) = 2x */
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Matrix grad_g(const VectorConfig& config, const std::string& 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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/** p = 1, g(x) = x^2-5 = 0 */
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Vector g_func(const VectorConfig& config, const std::string& key) {
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double x = config[key](0);
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return Vector_(1, x*x-5);
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}
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} // \namespace test1
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/* ************************************************************************* */
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TEST( NonlinearConstraint, unary_scalar_construction ) {
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// construct a constraint on x
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// the lagrange multipliers will be expected on L_x1
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// and there is only one multiplier
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size_t p = 1;
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NonlinearConstraint1<VectorConfig> c1("x", *test1::grad_g, *test1::g_func, p, "L_x1");
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// get a configuration to use for finding the error
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VectorConfig config;
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config.insert("x", Vector_(1, 1.0));
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// calculate the error
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Vector actual = c1.error_vector(config);
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Vector expected = Vector_(1.0, -4.0);
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CHECK(assert_equal(actual, expected, 1e-5));
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}
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/* ************************************************************************* */
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TEST( NonlinearConstraint, unary_scalar_linearize ) {
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// construct a constraint on x
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// the lagrange multipliers will be expected on L_x1
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// and there is only one multiplier
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size_t p = 1;
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NonlinearConstraint1<VectorConfig> c1("x", *test1::grad_g, *test1::g_func, p, "L_x1");
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// get a configuration to use for linearization
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VectorConfig realconfig;
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realconfig.insert("x", Vector_(1, 1.0));
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// get a configuration of Lagrange multipliers
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VectorConfig lagrangeConfig;
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lagrangeConfig.insert("L_x1", Vector_(1, 3.0));
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// linearize the system
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GaussianFactor::shared_ptr actFactor, actConstraint;
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boost::tie(actFactor, actConstraint) = c1.linearize(realconfig, lagrangeConfig);
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// verify
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GaussianFactor expFactor("x", Matrix_(1,1, 6.0), "L_x1", eye(1), zero(1), 1.0);
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GaussianFactor expConstraint("x", Matrix_(1,1, 2.0), Vector_(1,-4.0), 0.0);
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CHECK(assert_equal(*actFactor, expFactor));
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CHECK(assert_equal(*actConstraint, expConstraint));
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}
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/* ************************************************************************* */
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TEST( NonlinearConstraint, unary_scalar_equal ) {
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NonlinearConstraint1<VectorConfig>
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c1("x", *test1::grad_g, *test1::g_func, 1, "L_x1"),
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c2("x", *test1::grad_g, *test1::g_func, 1, "L_x1"),
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c3("x", *test1::grad_g, *test1::g_func, 2, "L_x1"),
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c4("y", *test1::grad_g, *test1::g_func, 1, "L_x1");
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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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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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