mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
27 lines
892 B
C++
27 lines
892 B
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#include <gtest/gtest.h>
|
|
#include <sleipnir/optimization/OptimizationProblem.hpp>
|
|
|
|
TEST(SleipnirTest, Quartic) {
|
|
sleipnir::OptimizationProblem problem;
|
|
|
|
auto x = problem.DecisionVariable();
|
|
x.SetValue(20.0);
|
|
|
|
problem.Minimize(sleipnir::pow(x, 4));
|
|
|
|
problem.SubjectTo(x >= 1);
|
|
|
|
auto status = problem.Solve({.diagnostics = true});
|
|
|
|
EXPECT_EQ(status.costFunctionType, sleipnir::ExpressionType::kNonlinear);
|
|
EXPECT_EQ(status.equalityConstraintType, sleipnir::ExpressionType::kNone);
|
|
EXPECT_EQ(status.inequalityConstraintType, sleipnir::ExpressionType::kLinear);
|
|
EXPECT_EQ(status.exitCondition, sleipnir::SolverExitCondition::kSuccess);
|
|
|
|
EXPECT_NEAR(x.Value(), 1.0, 1e-6);
|
|
}
|