407 lines
15 KiB
C++
407 lines
15 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testQPSolver.cpp
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* @brief Test simple QP solver for a linear inequality constraint
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* @date Apr 10, 2014
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* @author Duy-Nguyen Ta
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*/
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#include <gtsam/base/Testable.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam_unstable/linear/QPSolver.h>
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#include <gtsam_unstable/linear/QPSParser.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace std;
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using namespace gtsam;
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using namespace gtsam::symbol_shorthand;
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static const Vector kOne = Vector::Ones(1), kZero = Vector::Zero(1);
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/* ************************************************************************* */
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// Create test graph according to Forst10book_pg171Ex5
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QP createTestCase() {
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QP qp;
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// Objective functions x1^2 - x1*x2 + x2^2 - 3*x1 + 5
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// Note the Hessian encodes:
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// 0.5*x1'*G11*x1 + x1'*G12*x2 + 0.5*x2'*G22*x2 - x1'*g1 - x2'*g2 + 0.5*f
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// Hence, we have G11=2, G12 = -1, g1 = +3, G22 = 2, g2 = 0, f = 10
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//TODO: THIS TEST MIGHT BE WRONG : the last parameter might be 5 instead of 10 because the form of the equation
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// Should be 0.5x'Gx + gx + f : Nocedal 449
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qp.cost.push_back(
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HessianFactor(X(1), X(2), 2.0 * I_1x1, -I_1x1, 3.0 * I_1x1, 2.0 * I_1x1,
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Z_1x1, 10.0));
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// Inequality constraints
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qp.inequalities.push_back(LinearInequality(X(1), I_1x1, X(2), I_1x1, 2, 0)); // x1 + x2 <= 2 --> x1 + x2 -2 <= 0, --> b=2
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qp.inequalities.push_back(LinearInequality(X(1), -I_1x1, 0, 1)); // -x1 <= 0
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qp.inequalities.push_back(LinearInequality(X(2), -I_1x1, 0, 2)); // -x2 <= 0
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qp.inequalities.push_back(LinearInequality(X(1), I_1x1, 1.5, 3)); // x1 <= 3/2
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return qp;
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}
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TEST(QPSolver, TestCase) {
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VectorValues values;
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double x1 = 5, x2 = 7;
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values.insert(X(1), x1 * I_1x1);
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values.insert(X(2), x2 * I_1x1);
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QP qp = createTestCase();
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DOUBLES_EQUAL(29, x1 * x1 - x1 * x2 + x2 * x2 - 3 * x1 + 5, 1e-9);
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DOUBLES_EQUAL(29, qp.cost[0]->error(values), 1e-9);
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}
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TEST(QPSolver, constraintsAux) {
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QP qp = createTestCase();
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QPSolver solver(qp);
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VectorValues lambdas;
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lambdas.insert(0, (Vector(1) << -0.5).finished());
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lambdas.insert(1, kZero);
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lambdas.insert(2, (Vector(1) << 0.3).finished());
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lambdas.insert(3, (Vector(1) << 0.1).finished());
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int factorIx = solver.identifyLeavingConstraint(qp.inequalities, lambdas);
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LONGS_EQUAL(2, factorIx);
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VectorValues lambdas2;
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lambdas2.insert(0, (Vector(1) << -0.5).finished());
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lambdas2.insert(1, kZero);
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lambdas2.insert(2, (Vector(1) << -0.3).finished());
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lambdas2.insert(3, (Vector(1) << -0.1).finished());
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int factorIx2 = solver.identifyLeavingConstraint(qp.inequalities, lambdas2);
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LONGS_EQUAL(-1, factorIx2);
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}
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/* ************************************************************************* */
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// Create a simple test graph with one equality constraint
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QP createEqualityConstrainedTest() {
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QP qp;
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// Objective functions x1^2 + x2^2
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// Note the Hessian encodes:
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// 0.5*x1'*G11*x1 + x1'*G12*x2 + 0.5*x2'*G22*x2 - x1'*g1 - x2'*g2 + 0.5*f
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// Hence, we have G11=2, G12 = 0, g1 = 0, G22 = 2, g2 = 0, f = 0
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qp.cost.push_back(
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HessianFactor(X(1), X(2), 2.0 * I_1x1, Z_1x1, Z_1x1, 2.0 * I_1x1, Z_1x1,
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0.0));
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// Equality constraints
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// x1 + x2 = 1 --> x1 + x2 -1 = 0, hence we negate the b vector
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Matrix A1 = I_1x1;
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Matrix A2 = I_1x1;
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Vector b = -kOne;
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qp.equalities.push_back(LinearEquality(X(1), A1, X(2), A2, b, 0));
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return qp;
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}
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TEST(QPSolver, dual) {
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QP qp = createEqualityConstrainedTest();
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// Initials values
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VectorValues initialValues;
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initialValues.insert(X(1), I_1x1);
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initialValues.insert(X(2), I_1x1);
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QPSolver solver(qp);
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GaussianFactorGraph::shared_ptr dualGraph = solver.buildDualGraph(
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qp.inequalities, initialValues);
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VectorValues dual = dualGraph->optimize();
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VectorValues expectedDual;
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expectedDual.insert(0, (Vector(1) << 2.0).finished());
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CHECK(assert_equal(expectedDual, dual, 1e-10));
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}
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/* ************************************************************************* */
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TEST(QPSolver, indentifyActiveConstraints) {
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QP qp = createTestCase();
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QPSolver solver(qp);
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VectorValues currentSolution;
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currentSolution.insert(X(1), Z_1x1);
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currentSolution.insert(X(2), Z_1x1);
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InequalityFactorGraph workingSet = solver.identifyActiveConstraints(
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qp.inequalities, currentSolution);
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CHECK(!workingSet.at(0)->active()); // inactive
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CHECK(workingSet.at(1)->active());// active
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CHECK(workingSet.at(2)->active());// active
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CHECK(!workingSet.at(3)->active());// inactive
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VectorValues solution = solver.buildWorkingGraph(workingSet).optimize();
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VectorValues expectedSolution;
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expectedSolution.insert(X(1), kZero);
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expectedSolution.insert(X(2), kZero);
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CHECK(assert_equal(expectedSolution, solution, 1e-100));
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}
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/* ************************************************************************* */
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TEST(QPSolver, iterate) {
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QP qp = createTestCase();
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QPSolver solver(qp);
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VectorValues currentSolution;
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currentSolution.insert(X(1), Z_1x1);
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currentSolution.insert(X(2), Z_1x1);
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std::vector<VectorValues> expectedSolutions(4), expectedDuals(4);
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expectedSolutions[0].insert(X(1), kZero);
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expectedSolutions[0].insert(X(2), kZero);
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expectedDuals[0].insert(1, (Vector(1) << 3).finished());
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expectedDuals[0].insert(2, kZero);
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expectedSolutions[1].insert(X(1), (Vector(1) << 1.5).finished());
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expectedSolutions[1].insert(X(2), kZero);
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expectedDuals[1].insert(3, (Vector(1) << 1.5).finished());
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expectedSolutions[2].insert(X(1), (Vector(1) << 1.5).finished());
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expectedSolutions[2].insert(X(2), (Vector(1) << 0.75).finished());
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expectedSolutions[3].insert(X(1), (Vector(1) << 1.5).finished());
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expectedSolutions[3].insert(X(2), (Vector(1) << 0.5).finished());
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InequalityFactorGraph workingSet = solver.identifyActiveConstraints(
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qp.inequalities, currentSolution);
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QPSolver::State state(currentSolution, VectorValues(), workingSet, false,
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100);
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int it = 0;
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while (!state.converged) {
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state = solver.iterate(state);
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// These checks will fail because the expected solutions obtained from
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// Forst10book do not follow exactly what we implemented from Nocedal06book.
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// Specifically, we do not re-identify active constraints and
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// do not recompute dual variables after every step!!!
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// CHECK(assert_equal(expectedSolutions[it], state.values, 1e-10));
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// CHECK(assert_equal(expectedDuals[it], state.duals, 1e-10));
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it++;
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}
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CHECK(assert_equal(expectedSolutions[3], state.values, 1e-10));
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}
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/* ************************************************************************* */
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TEST(QPSolver, optimizeForst10book_pg171Ex5) {
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QP qp = createTestCase();
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QPSolver solver(qp);
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VectorValues initialValues;
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initialValues.insert(X(1), Z_1x1);
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initialValues.insert(X(2), Z_1x1);
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VectorValues solution;
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boost::tie(solution, boost::tuples::ignore) = solver.optimize(initialValues);
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VectorValues expectedSolution;
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expectedSolution.insert(X(1), (Vector(1) << 1.5).finished());
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expectedSolution.insert(X(2), (Vector(1) << 0.5).finished());
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CHECK(assert_equal(expectedSolution, solution, 1e-100));
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}
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pair<QP, QP> testParser(QPSParser parser) {
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QP exampleqp = parser.Parse();
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QP expectedqp;
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Key X1(Symbol('X', 1)), X2(Symbol('X', 2));
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// min f(x,y) = 4 + 1.5x -y + 0.58x^2 + 2xy + 2yx + 10y^2
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expectedqp.cost.push_back(
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HessianFactor(X1, X2, 8.0 * I_1x1, 2.0 * I_1x1, -1.5 * kOne, 10.0 * I_1x1,
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2.0 * kOne, 4.0));
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// 2x + y >= 2
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// -x + 2y <= 6
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expectedqp.inequalities.push_back(
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LinearInequality(X1, -2.0 * I_1x1, X2, -I_1x1, -2, 0));
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expectedqp.inequalities.push_back(
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LinearInequality(X1, -I_1x1, X2, 2.0 * I_1x1, 6, 1));
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// x<= 20
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expectedqp.inequalities.push_back(LinearInequality(X1, I_1x1, 20, 4));
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//x >= 0
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expectedqp.inequalities.push_back(LinearInequality(X1, -I_1x1, 0, 2));
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// y > = 0
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expectedqp.inequalities.push_back(LinearInequality(X2, -I_1x1, 0, 3));
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return std::make_pair(expectedqp, exampleqp);
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}
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;
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TEST(QPSolver, ParserSyntaticTest) {
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auto expectedActual = testParser(QPSParser("QPExample.QPS"));
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CHECK(assert_equal(expectedActual.first.cost, expectedActual.second.cost,
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1e-7));
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CHECK(assert_equal(expectedActual.first.inequalities,
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expectedActual.second.inequalities, 1e-7));
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CHECK(assert_equal(expectedActual.first.equalities,
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expectedActual.second.equalities, 1e-7));
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}
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TEST(QPSolver, ParserSemanticTest) {
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auto expected_actual = testParser(QPSParser("QPExample.QPS"));
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VectorValues actualSolution, expectedSolution;
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boost::tie(expectedSolution, boost::tuples::ignore) =
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QPSolver(expected_actual.first).optimize();
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boost::tie(actualSolution, boost::tuples::ignore) =
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QPSolver(expected_actual.second).optimize();
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CHECK(assert_equal(actualSolution, expectedSolution, 1e-7));
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}
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TEST(QPSolver, QPExampleTest){
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QP problem = QPSParser("QPExample.QPS").Parse();
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VectorValues actualSolution;
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auto solver = QPSolver(problem);
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boost::tie(actualSolution, boost::tuples::ignore) = solver.optimize();
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VectorValues expectedSolution;
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expectedSolution.insert(Symbol('X',1),0.7625*I_1x1);
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expectedSolution.insert(Symbol('X',2),0.4750*I_1x1);
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double error_expected = problem.cost.error(expectedSolution);
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double error_actual = problem.cost.error(actualSolution);
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CHECK(assert_equal(expectedSolution, actualSolution, 1e-7))
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CHECK(assert_equal(error_expected, error_actual))
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}
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/* ************************************************************************* */
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// Create Matlab's test graph as in http://www.mathworks.com/help/optim/ug/quadprog.html
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QP createTestMatlabQPEx() {
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QP qp;
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// Objective functions 0.5*x1^2 + x2^2 - x1*x2 - 2*x1 -6*x2
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// Note the Hessian encodes:
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// 0.5*x1'*G11*x1 + x1'*G12*x2 + 0.5*x2'*G22*x2 - x1'*g1 - x2'*g2 + 0.5*f
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// Hence, we have G11=1, G12 = -1, g1 = +2, G22 = 2, g2 = +6, f = 0
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qp.cost.push_back(
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HessianFactor(X(1), X(2), 1.0 * I_1x1, -I_1x1, 2.0 * I_1x1, 2.0 * I_1x1,
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6 * I_1x1, 1000.0));
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// Inequality constraints
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qp.inequalities.push_back(LinearInequality(X(1), I_1x1, X(2), I_1x1, 2, 0)); // x1 + x2 <= 2
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qp.inequalities.push_back(
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LinearInequality(X(1), -I_1x1, X(2), 2 * I_1x1, 2, 1)); //-x1 + 2*x2 <=2
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qp.inequalities.push_back(
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LinearInequality(X(1), 2 * I_1x1, X(2), I_1x1, 3, 2)); // 2*x1 + x2 <=3
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qp.inequalities.push_back(LinearInequality(X(1), -I_1x1, 0, 3)); // -x1 <= 0
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qp.inequalities.push_back(LinearInequality(X(2), -I_1x1, 0, 4)); // -x2 <= 0
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return qp;
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}
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///* ************************************************************************* */
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TEST(QPSolver, optimizeMatlabEx) {
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QP qp = createTestMatlabQPEx();
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QPSolver solver(qp);
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VectorValues initialValues;
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initialValues.insert(X(1), Z_1x1);
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initialValues.insert(X(2), Z_1x1);
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VectorValues solution;
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boost::tie(solution, boost::tuples::ignore) = solver.optimize(initialValues);
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VectorValues expectedSolution;
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expectedSolution.insert(X(1), (Vector(1) << 2.0 / 3.0).finished());
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expectedSolution.insert(X(2), (Vector(1) << 4.0 / 3.0).finished());
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CHECK(assert_equal(expectedSolution, solution, 1e-7));
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}
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///* ************************************************************************* */
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TEST(QPSolver, optimizeMatlabExNoinitials) {
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QP qp = createTestMatlabQPEx();
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QPSolver solver(qp);
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VectorValues solution;
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boost::tie(solution, boost::tuples::ignore) = solver.optimize();
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VectorValues expectedSolution;
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expectedSolution.insert(X(1), (Vector(1) << 2.0 / 3.0).finished());
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expectedSolution.insert(X(2), (Vector(1) << 4.0 / 3.0).finished());
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CHECK(assert_equal(expectedSolution, solution, 1e-7));
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}
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/* ************************************************************************* */
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// Create test graph as in Nocedal06book, Ex 16.4, pg. 475
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QP createTestNocedal06bookEx16_4() {
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QP qp;
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qp.cost.push_back(JacobianFactor(X(1), I_1x1, I_1x1));
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qp.cost.push_back(JacobianFactor(X(2), I_1x1, 2.5 * I_1x1));
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// Inequality constraints
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qp.inequalities.push_back(
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LinearInequality(X(1), -I_1x1, X(2), 2 * I_1x1, 2, 0));
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qp.inequalities.push_back(
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LinearInequality(X(1), I_1x1, X(2), 2 * I_1x1, 6, 1));
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qp.inequalities.push_back(
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LinearInequality(X(1), I_1x1, X(2), -2 * I_1x1, 2, 2));
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qp.inequalities.push_back(LinearInequality(X(1), -I_1x1, 0.0, 3));
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qp.inequalities.push_back(LinearInequality(X(2), -I_1x1, 0.0, 4));
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return qp;
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}
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TEST(QPSolver, optimizeNocedal06bookEx16_4) {
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QP qp = createTestNocedal06bookEx16_4();
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QPSolver solver(qp);
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VectorValues initialValues;
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initialValues.insert(X(1), (Vector(1) << 2.0).finished());
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initialValues.insert(X(2), Z_1x1);
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VectorValues solution;
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boost::tie(solution, boost::tuples::ignore) = solver.optimize(initialValues);
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VectorValues expectedSolution;
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expectedSolution.insert(X(1), (Vector(1) << 1.4).finished());
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expectedSolution.insert(X(2), (Vector(1) << 1.7).finished());
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CHECK(assert_equal(expectedSolution, solution, 1e-7));
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}
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/* ************************************************************************* */
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TEST(QPSolver, failedSubproblem) {
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QP qp;
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qp.cost.push_back(JacobianFactor(X(1), I_2x2, Z_2x1));
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qp.cost.push_back(HessianFactor(X(1), Z_2x2, Z_2x1, 100.0));
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qp.inequalities.push_back(
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LinearInequality(X(1), (Matrix(1, 2) << -1.0, 0.0).finished(), -1.0, 0));
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VectorValues expected;
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expected.insert(X(1), (Vector(2) << 1.0, 0.0).finished());
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VectorValues initialValues;
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initialValues.insert(X(1), (Vector(2) << 10.0, 100.0).finished());
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QPSolver solver(qp);
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VectorValues solution;
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boost::tie(solution, boost::tuples::ignore) = solver.optimize(initialValues);
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CHECK(assert_equal(expected, solution, 1e-7));
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}
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/* ************************************************************************* */
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TEST(QPSolver, infeasibleInitial) {
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QP qp;
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qp.cost.push_back(JacobianFactor(X(1), I_2x2, Vector::Zero(2)));
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qp.cost.push_back(HessianFactor(X(1), Z_2x2, Vector::Zero(2), 100.0));
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qp.inequalities.push_back(
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LinearInequality(X(1), (Matrix(1, 2) << -1.0, 0.0).finished(), -1.0, 0));
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VectorValues expected;
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expected.insert(X(1), (Vector(2) << 1.0, 0.0).finished());
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VectorValues initialValues;
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initialValues.insert(X(1), (Vector(2) << -10.0, 100.0).finished());
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QPSolver solver(qp);
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VectorValues solution;
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CHECK_EXCEPTION(solver.optimize(initialValues), InfeasibleInitialValues);
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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