[unittest] [eiquadprog-fast] test_nonconvex

Author: gabrielebndn

unittest/eiquadprog-fast.cpp

@@ -414,5 +414,60 @@ BOOST_AUTO_TEST_CASE ( test_unbounded )
   BOOST_WARN(status==expected);
 }
 
+// min -||x||^2
+//    s.t.
+// 0<= x[0] <= 1
+// 0<= x[1] <= 1
+// DOES NOT WORK!
+
+BOOST_AUTO_TEST_CASE ( test_nonconvex )
+{
+  EiquadprogFast qp;
+  qp.reset(2,0,4);
+
+  Eigen::MatrixXd Q(2,2);
+  Q.setZero();
+  Q(0,0) = -1.0;
+  Q(1,1) = -1.0;
+
+  Eigen::VectorXd C(2);
+  C.setZero();
+
+  Eigen::MatrixXd Aeq(0,2);
+
+  Eigen::VectorXd Beq(0);
+
+  Eigen::MatrixXd Aineq(4,2);
+  Aineq.setZero();
+  Aineq(0,0) =  1.;
+  Aineq(1,0) = -1.;
+  Aineq(2,1) =  1.;
+  Aineq(3,1) = -1.;
+
+  Eigen::VectorXd Bineq(4);
+  Bineq(0) =  0.;
+  Bineq(1) = -1.;
+  Bineq(2) =  0.;
+  Bineq(3) = -1.;
+
+  Eigen::VectorXd x(2);
+
+  Eigen::VectorXd solution(2);
+  solution(0) = 1.;
+  solution(1) = 1.;
+
+  double val = -1.;
+
+  EiquadprogFast_status expected = EIQUADPROG_FAST_OPTIMAL;
+
+  EiquadprogFast_status status = qp.solve_quadprog(Q, C, Aeq, Beq, Aineq, Bineq, x);
+
+  BOOST_WARN(status==expected);
+
+  BOOST_WARN_CLOSE(qp.getObjValue(),val,1e-6);
+
+  BOOST_WARN(x.isApprox(solution));
+}
+
 BOOST_AUTO_TEST_SUITE_END ()