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