From 54e7e84c21382d79cf1eb799d8763844b6d50a02 Mon Sep 17 00:00:00 2001
From: = <ijimenez3@gatech.edu>
Date: Wed, 29 Jun 2016 15:08:38 -0400
Subject: [PATCH] [TEST] HS118 no also tests for correctness of actual solution
 found. Removed debug statements. QPS files with ranges now work correctly.

---
 gtsam_unstable/linear/RawQP.cpp              | 16 ++++++++++------
 gtsam_unstable/linear/tests/testQPSolver.cpp |  8 +++++---
 2 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/gtsam_unstable/linear/RawQP.cpp b/gtsam_unstable/linear/RawQP.cpp
index 95a259f5f..26a83e099 100644
--- a/gtsam_unstable/linear/RawQP.cpp
+++ b/gtsam_unstable/linear/RawQP.cpp
@@ -81,20 +81,21 @@ void RawQP::addRangeSingle(
     boost::fusion::vector<std::vector<char>, std::vector<char>,
         std::vector<char>, std::vector<char>, std::vector<char>, double,
         std::vector<char>> const & vars) {
-  std::cout << "SINGLE RANGE ADDED" << std::endl;
   std::string var_(at_c < 1 > (vars).begin(), at_c < 1 > (vars).end());
   std::string row_(at_c < 3 > (vars).begin(), at_c < 3 > (vars).end());
   double range = at_c < 5 > (vars);
   ranges[row_] = range;
-  std::cout << "VAR:" << var_ << " ROW: " << row_ << " RANGE: " << range
-      << std::endl;
+  if (debug) {
+    std::cout << "SINGLE RANGE ADDED" << std::endl;
+    std::cout << "VAR:" << var_ << " ROW: " << row_ << " RANGE: " << range
+        << std::endl;
+  }
   
 }
 void RawQP::addRangeDouble(
     boost::fusion::vector<std::vector<char>, std::vector<char>,
         std::vector<char>, std::vector<char>, std::vector<char>, double,
         std::vector<char>, std::vector<char>, std::vector<char>, double> const & vars) {
-  std::cout << "DOUBLE RANGE ADDED" << std::endl;
   std::string var_(at_c < 1 > (vars).begin(), at_c < 1 > (vars).end());
   std::string row1_(at_c < 3 > (vars).begin(), at_c < 3 > (vars).end());
   std::string row2_(at_c < 7 > (vars).begin(), at_c < 7 > (vars).end());
@@ -102,8 +103,11 @@ void RawQP::addRangeDouble(
   double range2 = at_c < 9 > (vars);
   ranges[row1_] = range1;
   ranges[row2_] = range2;
-  std::cout << "VAR: " << var_ << " ROW1: " << row1_ << " RANGE1: " << range1
-      << " ROW2: " << row2_ << " RANGE2: " << range2 << std::endl;
+  if (debug) {
+    std::cout << "DOUBLE RANGE ADDED" << std::endl;
+    std::cout << "VAR: " << var_ << " ROW1: " << row1_ << " RANGE1: " << range1
+        << " ROW2: " << row2_ << " RANGE2: " << range2 << std::endl;
+  }
   
 }
 
diff --git a/gtsam_unstable/linear/tests/testQPSolver.cpp b/gtsam_unstable/linear/tests/testQPSolver.cpp
index 47cfff6e2..1851c01bf 100644
--- a/gtsam_unstable/linear/tests/testQPSolver.cpp
+++ b/gtsam_unstable/linear/tests/testQPSolver.cpp
@@ -285,12 +285,14 @@ TEST(QPSolver, HS118) {
   QP problem = QPSParser("HS118.QPS").Parse();
   VectorValues actualSolution;
   VectorValues expectedSolution;
-//  expectedSolution.insert(Symbol('X',1), 2.0*I_1x1);
-//  expectedSolution.insert(Symbol('X',2), 0.0*I_1x1);
+  double solutionValues[15] = {8,49,3,1,56,0,1,63,6,3,70,12,5,77,18};
+  for (int index = 0; index < 15; ++index) {
+    expectedSolution.insert(Symbol('X',index+1), solutionValues[index]);
+  }
   boost::tie(actualSolution, boost::tuples::ignore) = QPSolver(problem).optimize();
   double error_actual = problem.cost.error(actualSolution);
   CHECK(assert_equal(6.64820452e2,error_actual, 1e-7))
-//  CHECK(assert_equal(expectedSolution, actualSolution))
+  CHECK(assert_equal(expectedSolution, actualSolution))
 }
 
 /* ************************************************************************* */