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[unittest] Format
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2 files changed

+53
-56
lines changed

2 files changed

+53
-56
lines changed

‎unittest/eiquadprog-fast.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -401,7 +401,7 @@ BOOST_AUTO_TEST_CASE(test_unbounded) {
401401
EiquadprogFast_status status = qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
402402

403403
BOOST_WARN_EQUAL(status, expected);
404-
BOOST_WARN(status != EIQUADPROG_FAST_OPTIMAL); // SHOULD pass!
404+
BOOST_WARN(status != EIQUADPROG_FAST_OPTIMAL); // SHOULD pass!
405405
}
406406

407407
// min -||x||^2

‎unittest/eiquadprog-rt.cpp‎

Lines changed: 52 additions & 55 deletions
Original file line numberDiff line numberDiff line change
@@ -15,27 +15,26 @@ using namespace eiquadprog::solvers;
1515
* CI x + ci0 >= 0
1616
*/
1717

18-
BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
18+
BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
1919

2020
// min ||x||^2
2121

22-
BOOST_AUTO_TEST_CASE ( test_unbiased )
23-
{
24-
RtEiquadprog<2,0,0> qp;
22+
BOOST_AUTO_TEST_CASE(test_unbiased) {
23+
RtEiquadprog<2, 0, 0> qp;
2524

26-
RtMatrixX<2,2>::d Q;
25+
RtMatrixX<2, 2>::d Q;
2726
Q.setZero();
28-
Q(0,0) = 1.0;
29-
Q(1,1) = 1.0;
27+
Q(0, 0) = 1.0;
28+
Q(1, 1) = 1.0;
3029

3130
RtVectorX<2>::d C;
3231
C.setZero();
3332

34-
RtMatrixX<0,2>::d Aeq;
33+
RtMatrixX<0, 2>::d Aeq;
3534

3635
RtVectorX<0>::d Beq;
3736

38-
RtMatrixX<0,2>::d Aineq;
37+
RtMatrixX<0, 2>::d Aineq;
3938

4039
RtVectorX<0>::d Bineq;
4140

@@ -50,19 +49,19 @@ BOOST_AUTO_TEST_CASE ( test_unbiased )
5049

5150
RtEiquadprog_status status = qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
5251

53-
BOOST_CHECK_EQUAL(status,expected);
52+
BOOST_CHECK_EQUAL(status, expected);
5453

55-
BOOST_CHECK_CLOSE(qp.getObjValue(),val,1e-6);
54+
BOOST_CHECK_CLOSE(qp.getObjValue(), val, 1e-6);
5655

5756
BOOST_CHECK(x.isApprox(solution));
5857
}
5958

6059
// min ||x-x_0||^2, x_0 = (1 1)^T
6160

6261
BOOST_AUTO_TEST_CASE(test_biased) {
63-
RtEiquadprog<2,0,0> qp;
62+
RtEiquadprog<2, 0, 0> qp;
6463

65-
RtMatrixX<2,2>::d Q;
64+
RtMatrixX<2, 2>::d Q;
6665
Q.setZero();
6766
Q(0, 0) = 1.0;
6867
Q(1, 1) = 1.0;
@@ -71,11 +70,11 @@ BOOST_AUTO_TEST_CASE(test_biased) {
7170
C(0) = -1.;
7271
C(1) = -1.;
7372

74-
RtMatrixX<0,2>::d Aeq;
73+
RtMatrixX<0, 2>::d Aeq;
7574

7675
RtVectorX<0>::d Beq;
7776

78-
RtMatrixX<0,2>::d Aineq;
77+
RtMatrixX<0, 2>::d Aineq;
7978

8079
RtVectorX<0>::d Bineq;
8180

@@ -103,24 +102,24 @@ BOOST_AUTO_TEST_CASE(test_biased) {
103102
// x[1] = 1 - x[0]
104103

105104
BOOST_AUTO_TEST_CASE(test_equality_constraints) {
106-
RtEiquadprog<2,1,0> qp;
105+
RtEiquadprog<2, 1, 0> qp;
107106

108-
RtMatrixX<2,2>::d Q;
107+
RtMatrixX<2, 2>::d Q;
109108
Q.setZero();
110109
Q(0, 0) = 1.0;
111110
Q(1, 1) = 1.0;
112111

113112
RtVectorX<2>::d C;
114113
C.setZero();
115114

116-
RtMatrixX<1,2>::d Aeq;
115+
RtMatrixX<1, 2>::d Aeq;
117116
Aeq(0, 0) = 1.;
118117
Aeq(0, 1) = 1.;
119118

120119
RtVectorX<1>::d Beq;
121120
Beq(0) = -1.;
122121

123-
RtMatrixX<0,2>::d Aineq;
122+
RtMatrixX<0, 2>::d Aineq;
124123

125124
RtVectorX<0>::d Bineq;
126125

@@ -148,21 +147,21 @@ BOOST_AUTO_TEST_CASE(test_equality_constraints) {
148147
// x[i] >= 1
149148

150149
BOOST_AUTO_TEST_CASE(test_inequality_constraints) {
151-
RtEiquadprog<2,0,2> qp;
150+
RtEiquadprog<2, 0, 2> qp;
152151

153-
RtMatrixX<2,2>::d Q;
152+
RtMatrixX<2, 2>::d Q;
154153
Q.setZero();
155154
Q(0, 0) = 1.0;
156155
Q(1, 1) = 1.0;
157156

158157
RtVectorX<2>::d C;
159158
C.setZero();
160159

161-
RtMatrixX<0,2>::d Aeq;
160+
RtMatrixX<0, 2>::d Aeq;
162161

163162
RtVectorX<0>::d Beq(0);
164163

165-
RtMatrixX<2,2>::d Aineq;
164+
RtMatrixX<2, 2>::d Aineq;
166165
Aineq.setZero();
167166
Aineq(0, 0) = 1.;
168167
Aineq(1, 1) = 1.;
@@ -195,29 +194,28 @@ BOOST_AUTO_TEST_CASE(test_inequality_constraints) {
195194
// x[1] = 5 - x[0]
196195
// x[1] >= 3
197196

198-
BOOST_AUTO_TEST_CASE ( test_full )
199-
{
200-
RtEiquadprog<2,1,1> qp;
197+
BOOST_AUTO_TEST_CASE(test_full) {
198+
RtEiquadprog<2, 1, 1> qp;
201199

202-
RtMatrixX<2,2>::d Q;
200+
RtMatrixX<2, 2>::d Q;
203201
Q.setZero();
204-
Q(0,0) = 1.0;
205-
Q(1,1) = 1.0;
202+
Q(0, 0) = 1.0;
203+
Q(1, 1) = 1.0;
206204

207205
RtVectorX<2>::d C;
208206
C(0) = -1.;
209207
C(1) = -1.;
210208

211-
RtMatrixX<1,2>::d Aeq;
212-
Aeq(0,0) = 1.;
213-
Aeq(0,1) = 1.;
209+
RtMatrixX<1, 2>::d Aeq;
210+
Aeq(0, 0) = 1.;
211+
Aeq(0, 1) = 1.;
214212

215213
RtVectorX<1>::d Beq;
216214
Beq(0) = -5.;
217215

218-
RtMatrixX<1,2>::d Aineq;
216+
RtMatrixX<1, 2>::d Aineq;
219217
Aineq.setZero();
220-
Aineq(0,1) = 1.;
218+
Aineq(0, 1) = 1.;
221219

222220
RtVectorX<1>::d Bineq;
223221
Bineq(0) = -3.;
@@ -234,9 +232,9 @@ BOOST_AUTO_TEST_CASE ( test_full )
234232

235233
RtEiquadprog_status status = qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
236234

237-
BOOST_CHECK_EQUAL(status,expected);
235+
BOOST_CHECK_EQUAL(status, expected);
238236

239-
BOOST_CHECK_CLOSE(qp.getObjValue(),val,1e-6);
237+
BOOST_CHECK_CLOSE(qp.getObjValue(), val, 1e-6);
240238

241239
BOOST_CHECK(x.isApprox(solution));
242240
}
@@ -247,17 +245,17 @@ BOOST_AUTO_TEST_CASE ( test_full )
247245
// x[0] = -1
248246

249247
BOOST_AUTO_TEST_CASE(test_unfeasible_equalities) {
250-
RtEiquadprog<2,2,0> qp;
248+
RtEiquadprog<2, 2, 0> qp;
251249

252-
RtMatrixX<2,2>::d Q;
250+
RtMatrixX<2, 2>::d Q;
253251
Q.setZero();
254252
Q(0, 0) = 1.0;
255253
Q(1, 1) = 1.0;
256254

257255
RtVectorX<2>::d C;
258256
C.setZero();
259257

260-
RtMatrixX<2,2>::d Aeq;
258+
RtMatrixX<2, 2>::d Aeq;
261259
Aeq.setZero();
262260
Aeq(0, 0) = 1.;
263261
Aeq(1, 0) = 1.;
@@ -266,7 +264,7 @@ BOOST_AUTO_TEST_CASE(test_unfeasible_equalities) {
266264
Beq(0) = -1.;
267265
Beq(1) = 1.;
268266

269-
RtMatrixX<0,2>::d Aineq;
267+
RtMatrixX<0, 2>::d Aineq;
270268

271269
RtVectorX<0>::d Bineq;
272270

@@ -287,21 +285,21 @@ BOOST_AUTO_TEST_CASE(test_unfeasible_equalities) {
287285
// correctly fails, but returns wrong error code
288286

289287
BOOST_AUTO_TEST_CASE(test_unfeasible_inequalities) {
290-
RtEiquadprog<2,0,2> qp;
288+
RtEiquadprog<2, 0, 2> qp;
291289

292-
RtMatrixX<2,2>::d Q;
290+
RtMatrixX<2, 2>::d Q;
293291
Q.setZero();
294292
Q(0, 0) = 1.0;
295293
Q(1, 1) = 1.0;
296294

297295
RtVectorX<2>::d C;
298296
C.setZero();
299297

300-
RtMatrixX<0,2>::d Aeq;
298+
RtMatrixX<0, 2>::d Aeq;
301299

302300
RtVectorX<0>::d Beq;
303301

304-
RtMatrixX<2,2>::d Aineq;
302+
RtMatrixX<2, 2>::d Aineq;
305303
Aineq.setZero();
306304
Aineq(0, 0) = 1.;
307305
Aineq(1, 0) = -1.;
@@ -324,21 +322,21 @@ BOOST_AUTO_TEST_CASE(test_unfeasible_inequalities) {
324322
// DOES NOT WORK!
325323

326324
BOOST_AUTO_TEST_CASE(test_unbounded) {
327-
RtEiquadprog<2,0,0> qp;
325+
RtEiquadprog<2, 0, 0> qp;
328326

329-
RtMatrixX<2,2>::d Q;
327+
RtMatrixX<2, 2>::d Q;
330328
Q.setZero();
331329
Q(0, 0) = -1.0;
332330
Q(1, 1) = -1.0;
333331

334332
RtVectorX<2>::d C;
335333
C.setZero();
336334

337-
RtMatrixX<0,2>::d Aeq;
335+
RtMatrixX<0, 2>::d Aeq;
338336

339337
RtVectorX<0>::d Beq;
340338

341-
RtMatrixX<0,2>::d Aineq;
339+
RtMatrixX<0, 2>::d Aineq;
342340

343341
RtVectorX<0>::d Bineq;
344342

@@ -349,7 +347,7 @@ BOOST_AUTO_TEST_CASE(test_unbounded) {
349347
RtEiquadprog_status status = qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
350348

351349
BOOST_WARN_EQUAL(status, expected);
352-
BOOST_WARN(status != RT_EIQUADPROG_OPTIMAL); // SHOULD pass!
350+
BOOST_WARN(status != RT_EIQUADPROG_OPTIMAL); // SHOULD pass!
353351
}
354352

355353
// min -||x||^2
@@ -359,21 +357,21 @@ BOOST_AUTO_TEST_CASE(test_unbounded) {
359357
// DOES NOT WORK!
360358

361359
BOOST_AUTO_TEST_CASE(test_nonconvex) {
362-
RtEiquadprog<2,0,4> qp;
360+
RtEiquadprog<2, 0, 4> qp;
363361

364-
RtMatrixX<2,2>::d Q;
362+
RtMatrixX<2, 2>::d Q;
365363
Q.setZero();
366364
Q(0, 0) = -1.0;
367365
Q(1, 1) = -1.0;
368366

369367
RtVectorX<2>::d C;
370368
C.setZero();
371369

372-
RtMatrixX<0,2>::d Aeq;
370+
RtMatrixX<0, 2>::d Aeq;
373371

374372
RtVectorX<0>::d Beq;
375373

376-
RtMatrixX<4,2>::d Aineq(4, 2);
374+
RtMatrixX<4, 2>::d Aineq(4, 2);
377375
Aineq.setZero();
378376
Aineq(0, 0) = 1.;
379377
Aineq(1, 0) = -1.;
@@ -405,5 +403,4 @@ BOOST_AUTO_TEST_CASE(test_nonconvex) {
405403
BOOST_WARN(x.isApprox(solution));
406404
}
407405

408-
BOOST_AUTO_TEST_SUITE_END ()
409-
406+
BOOST_AUTO_TEST_SUITE_END()

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