12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

QPSolver now returns dual values after solving. This can be used as a guessed dual value for the nonlinear level

release/4.3a0
thduynguyen 2014-05-01 14:44:14 -04:00
parent cb7153a9d2
commit e16efaab2c
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
gtsam/linear/tests/testQPSolver.cpp
View File

@ -16,9 +16,9 @@
* @author Duy-Nguyen Ta
*/
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/Testable.h>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/QPSolver.h>
using namespace std;
@ -150,7 +150,8 @@ TEST(QPSolver, iterate) {
bool converged = false;
int it = 0;
while (!converged) {
converged = solver.iterateInPlace(workingGraph, currentSolution);
VectorValues lambdas;
converged = solver.iterateInPlace(workingGraph, currentSolution, lambdas);
CHECK(assert_equal(expectedSolutions[it], currentSolution, 1e-100));
it++;
}