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add test for InfeasibleIntialValues exception

release/4.3a0
thduynguyen 2015-02-24 22:10:07 -05:00
parent 0c025f798c
commit 54121ad26b
1 changed files with 23 additions and 3 deletions
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26
gtsam_unstable/linear/tests/testQPSolver.cpp
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@ -280,7 +280,6 @@ TEST(QPSolver, optimizeNocedal06bookEx16_4) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST(QPSolver, failedSubproblem) { TEST(QPSolver, failedSubproblem) {
QP qp; QP qp;
qp.cost.push_back(JacobianFactor(X(1), eye(2), zero(2))); qp.cost.push_back(JacobianFactor(X(1), eye(2), zero(2)));
@ -297,11 +296,32 @@ TEST(QPSolver, failedSubproblem) {
QPSolver solver(qp); QPSolver solver(qp);
VectorValues solution; VectorValues solution;
boost::tie(solution, boost::tuples::ignore) = solver.optimize(initialValues); boost::tie(solution, boost::tuples::ignore) = solver.optimize(initialValues);
// graph.print("Graph: ");
// solution.print("Solution: ");
CHECK(assert_equal(expected, solution, 1e-7)); CHECK(assert_equal(expected, solution, 1e-7));
} }
/* ************************************************************************* */
TEST(QPSolver, infeasibleInitial) {
QP qp;
qp.cost.push_back(JacobianFactor(X(1), eye(2), zero(2)));
qp.cost.push_back(HessianFactor(X(1), zeros(2, 2), zero(2), 100.0));
qp.inequalities.push_back(
LinearInequality(X(1), (Matrix(1,2) << -1.0, 0.0).finished(), -1.0, 0));
VectorValues expected;
expected.insert(X(1), (Vector(2) << 1.0, 0.0).finished());
VectorValues initialValues;
initialValues.insert(X(1), (Vector(2) << -10.0, 100.0).finished());
QPSolver solver(qp);
VectorValues solution;
CHECK_EXCEPTION(
solver.optimize(initialValues),
InfeasibleInitialValues
);
}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { int main() {
TestResult tr; TestResult tr;