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27 lines
892 B
C++
27 lines
892 B
C++
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <gtest/gtest.h>
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#include <sleipnir/optimization/OptimizationProblem.hpp>
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TEST(SleipnirTest, Quartic) {
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sleipnir::OptimizationProblem problem;
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auto x = problem.DecisionVariable();
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x.SetValue(20.0);
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problem.Minimize(sleipnir::pow(x, 4));
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problem.SubjectTo(x >= 1);
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auto status = problem.Solve({.diagnostics = true});
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EXPECT_EQ(status.costFunctionType, sleipnir::ExpressionType::kNonlinear);
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EXPECT_EQ(status.equalityConstraintType, sleipnir::ExpressionType::kNone);
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EXPECT_EQ(status.inequalityConstraintType, sleipnir::ExpressionType::kLinear);
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EXPECT_EQ(status.exitCondition, sleipnir::SolverExitCondition::kSuccess);
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EXPECT_NEAR(x.Value(), 1.0, 1e-6);
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}
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