Drake
drake::solvers::test Namespace Reference

Namespaces

 TestCallbacks
 

Classes

class  ConvexCubicProgramExample
 A simple convex optimization program min -12 * x + x³ s.t x >= 0 Notice the objective function is convex in the feasible region x >= 0 The optimal solution is x = 2. More...
 
class  GenericTrivialCost1
 
class  GenericTrivialCost2
 
class  GloptiPolyConstrainedMinimizationProblem
 gloptiPolyConstrainedMinimization More...
 
class  InfeasibleLinearProgramTest0
 An infeasible linear program. More...
 
class  LinearFeasibilityProgram
 Test a simple linear programming problem with zero cost, i.e. More...
 
class  LinearMatrixEqualityExample
 For a stable linear system ẋ = A x, find its Lyapunov function by solving the Lyapunov equality on the symmetric matrix X Aᵀ * X + X * A = -E. More...
 
class  LinearProgram0
 Adapt from the linear programming example http://cvxopt.org/examples/tutorial/lp.html Solve the following linear program min 2x0 + x1 s.t -inf <= -x0 + x1 <= 1 2 <= x0 + x1 <=inf -inf <= x0 - 2x1 <= 4 x1 >= 2 x0 >= 0 The optimal solution is x0 = 1, x1 = 2. More...
 
class  LinearProgram1
 
class  LinearProgram2
 
class  LinearProgram3
 
class  LinearProgramTest
 
class  LinearSystemExample1
 Simple example x = b. More...
 
class  LinearSystemExample2
 Simple linear system x = b 2 * y(0) = b(0) 2 * y(1) = b(1) More...
 
class  LinearSystemExample3
 Simple linear system 3 * x = b 2 * y(0) = b(0) 2 * y(1) = b(1) More...
 
class  LowerBoundedProblem
 This test comes from Section 3.4 of Handbook of Test Problems in Local and Global Optimization. More...
 
class  MinDistanceFromPlaneToOrigin
 An SOCP with Lorentz cone and rotated Lorentz cone constraints. More...
 
class  NonConvexQPproblem1
 This test comes from Section 2.2 of Handbook of Test Problems in Local and Global Optimization. More...
 
class  NonConvexQPproblem2
 This test comes from Section 2.3 of Handbook of Test Problems in Local and Global Optimization. More...
 
class  OptimizationProgram
 
class  QuadraticProgram0
 
class  QuadraticProgram1
 Adapt from the simple test on the Gurobi documentation. More...
 
class  QuadraticProgram2
 
class  QuadraticProgram3
 
class  QuadraticProgram4
 
class  QuadraticProgramTest
 
class  UnboundedLinearProgramTest0
 An unbounded linear program. More...
 

Enumerations

enum  LinearProblems {
  kLinearFeasibilityProgram = 0, kLinearProgram0 = 1, kLinearProgram1 = 2, kLinearProgram2 = 3,
  kLinearProgram3 = 4
}
 
enum  CostForm { kGeneric = 0, kNonSymbolic = 1, kSymbolic = 2 }
 
enum  ConstraintForm { kGeneric = 0, kNonSymbolic = 1, kSymbolic = 2, kFormula = 3 }
 
enum  QuadraticProblems {
  kQuadraticProgram0 = 0, kQuadraticProgram1 = 1, kQuadraticProgram2 = 2, kQuadraticProgram3 = 3,
  kQuadraticProgram4 = 4
}
 

Functions

template<typename Solver >
void AddSolverIfAvailable (std::list< std::unique_ptr< MathematicalProgramSolverInterface >> *solver_list)
 
 GTEST_TEST (TestBinding, constructBinding)
 
 GTEST_TEST (TestSOCP, TestEllipsoidsSeparation0)
 
 GTEST_TEST (TestSOCP, TestEllipsoidsSeparation1)
 
 GTEST_TEST (TestSOCP, TestEllipsoidsSeparation2)
 
 GTEST_TEST (TestSOCP, TestEllipsoidsSeparation3)
 
 GTEST_TEST (TestSOCP, TestQPasSOCP)
 
 GTEST_TEST (TestSOCP, TestFindSpringEquilibrium)
 
 GTEST_TEST (TestSemidefiniteProgram, TestTrivialSDP)
 
 GTEST_TEST (TestSemidefiniteProgram, TestCommonLyapunov)
 
 GTEST_TEST (TestSemidefiniteProgram, TestOuterEllipsoid)
 
 GTEST_TEST (TestSemidefiniteProgram, TestEigenvalueProblem)
 
 GTEST_TEST (TestDecisionVariable, TestVariableListRef)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testUnconstrainedQPDispatch)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testLinearlyConstrainedQPDispatch)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testNotStrictlyPositiveDefiniteHessianQP)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testNonPositiveSemidefiniteHessianQP)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testUnboundedQP)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testNegativeDefiniteHessianQP)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testPositiveHessianInfeasibleConstraint)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testIndefiniteHessian)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testPSDhessianUnbounded)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testNegativeHessianUniqueOptimum)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testNegativeHessianUnbounded)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testPSDHessianUniqueOptimal)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testIndefiniteHessianInfeasible)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testFeasibilityTolerance)
 
 GTEST_TEST (testEqualityConstrainedQPSolver, testLinearCost)
 
 TEST_P (LinearProgramTest, TestLP)
 
 INSTANTIATE_TEST_CASE_P (GurobiTest, LinearProgramTest,::testing::Combine(::testing::ValuesIn(linear_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(linear_problems())))
 
 TEST_F (InfeasibleLinearProgramTest0, TestGurobiInfeasible)
 
 TEST_F (UnboundedLinearProgramTest0, TestGurobiUnbounded)
 
 TEST_P (QuadraticProgramTest, TestQP)
 
 INSTANTIATE_TEST_CASE_P (GurobiTest, QuadraticProgramTest,::testing::Combine(::testing::ValuesIn(quadratic_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(quadratic_problems())))
 
 GTEST_TEST (QPtest, TestUnitBallExample)
 
 GTEST_TEST (GurobiTest, TestInitialGuess)
 
 GTEST_TEST (TestIndeterminates, TestIndeterminatesListRef)
 
 INSTANTIATE_TEST_CASE_P (IpoptTest, LinearProgramTest,::testing::Combine(::testing::ValuesIn(linear_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(linear_problems())))
 
 INSTANTIATE_TEST_CASE_P (IpoptTest, QuadraticProgramTest,::testing::Combine(::testing::ValuesIn(quadratic_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(quadratic_problems())))
 
 GTEST_TEST (testMathematicalProgram, simpleLCP)
 
 GTEST_TEST (testMathematicalProgram, multiLCP)
 
std::vector< LinearProblemslinear_problems ()
 
 GTEST_TEST (testLinearSystemSolver, trivialExample)
 
 GTEST_TEST (testLinearSystemSolver, InfeasibleProblem)
 Simple linear system without a solution 3 * x = 1 2 * x + y = 2 x - y = 0. More...
 
 GTEST_TEST (testLinearSystemSolver, UnderDeterminedProblem)
 Under-determined linear system 3 * x + y = 1 x + z = 2. More...
 
 GTEST_TEST (testLinearSystemSolver, linearMatrixEqualityExample)
 
template<typename Derived >
void CheckAddedVariable (const MathematicalProgram &prog, const Eigen::MatrixBase< Derived > &var, const string &var_name, bool is_symmetric, MathematicalProgram::VarType type_expected)
 
template<typename Derived >
void CheckAddedIndeterminates (const MathematicalProgram &prog, const Eigen::MatrixBase< Derived > &indeterminates, const string &indeterminates_name)
 
 GTEST_TEST (testAddVariable, testAddContinuousVariables1)
 
 GTEST_TEST (testAddVariable, testAddContinuousVariable2)
 
 GTEST_TEST (testAddVariable, testAddContinuousVariable3)
 
 GTEST_TEST (testAddVariable, testAddContinuousVariable4)
 
 GTEST_TEST (testAddVariable, testAddContinuousVariable5)
 
 GTEST_TEST (testAddVariable, testAddContinuousVariables6)
 
 GTEST_TEST (testAddVariable, testAddContinuousVariables7)
 
 GTEST_TEST (testAddVariable, testAddContinuousVariables8)
 
 GTEST_TEST (testAddVariable, testAddSymmetricVariable1)
 
 GTEST_TEST (testAddVariable, testAddSymmetricVariable2)
 
 GTEST_TEST (testAddVariable, testAddBinaryVariable1)
 
 GTEST_TEST (testAddVariable, testAddBinaryVariable2)
 
 GTEST_TEST (testAddVariable, testAddBinaryVariable3)
 
 GTEST_TEST (testAddVariable, testAddBinaryVariable4)
 
 GTEST_TEST (testAddVariable, testAddBinaryVariable5)
 
 GTEST_TEST (testAddVariable, testAddBinaryVariable6)
 
 GTEST_TEST (testAddVariable, testAddBinaryVariable7)
 
 GTEST_TEST (testAddVariable, testAddBinaryVariable8)
 
 GTEST_TEST (testAddIndeterminates, testAddIndeterminates1)
 
 GTEST_TEST (testAddIndeterminates, testAddIndeterminates2)
 
 GTEST_TEST (testAddIndeterminates, testAddIndeterminates3)
 
 GTEST_TEST (testAddIndeterminates, testAddIndeterminates4)
 
template<typename Derived1 , typename Derived2 >
enable_if< is_same< typename Derived1::Scalar, Variable >::value &&is_same< typename Derived2::Scalar, double >::value >::type CheckGetSolution (const MathematicalProgram &prog, const Eigen::MatrixBase< Derived1 > &vars, const Eigen::MatrixBase< Derived2 > &val_expected)
 
 GTEST_TEST (testGetSolution, testSetSolution1)
 
 GTEST_TEST (testMathematicalProgram, testBadBindingVariable)
 
 GTEST_TEST (testMathematicalProgram, testAddFunction)
 
 GTEST_TEST (testMathematicalProgram, BoundingBoxTest2)
 
void VerifyAddedCost1 (const MathematicalProgram &prog, const shared_ptr< Cost > &cost, const Eigen::Ref< const Eigen::VectorXd > &x_value, int num_generic_costs_expected)
 
void VerifyAddedCost2 (const MathematicalProgram &prog, const GenericTrivialCost2 &cost, const shared_ptr< Cost > &returned_cost, const Eigen::Ref< const Eigen::Vector2d > &x_value, int num_generic_costs_expected)
 
 GTEST_TEST (testMathematicalProgram, AddCostTest)
 
void CheckAddedSymbolicLinearCostUserFun (const MathematicalProgram &prog, const Expression &e, const Binding< Cost > &binding, int num_linear_costs)
 
void CheckAddedSymbolicLinearCost (MathematicalProgram *prog, const Expression &e)
 
 GTEST_TEST (testMathematicalProgram, AddLinearCostSymbolic)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolic1)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolic2)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolic3)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolic4)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolic5)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolic6)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolic7)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolic8)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolic9)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicFormula1)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicFormula2)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicFormula3)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicFormula4)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicFormula5)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicFormula6)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicFormula7)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicFormulaException1)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicFormulaException2)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicFormulaAnd1)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicFormulaAnd2)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicFormulaAndException)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicArrayFormula1)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicArrayFormula2)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicArrayFormula3)
 
 GTEST_TEST (testMathematicalProgram, AddLinearConstraintSymbolicArrayFormulaException)
 
 GTEST_TEST (testMathematicalProgram, AddSymbolicLinearEqualityConstraint1)
 
 GTEST_TEST (testMathematicalProgram, AddSymbolicLinearEqualityConstraint2)
 
 GTEST_TEST (testMathematicalProgram, AddSymbolicLinearEqualityConstraint3)
 
 GTEST_TEST (testMathematicalProgram, AddSymbolicLinearEqualityConstraint4)
 
 GTEST_TEST (testMathematicalProgram, AddSymbolicLinearEqualityConstraint5)
 
 GTEST_TEST (testMathematicalProgram, AddSymbolicLinearEqualityConstraint6)
 
 GTEST_TEST (testMathematicalProgram, AddSymbolicLinearEqualityConstraintException1)
 
 GTEST_TEST (testMathematicalProgram, AddSymbolicLinearEqualityConstraintException2)
 
 GTEST_TEST (testMathematicalProgram, AddSymbolicLinearEqualityConstraintException3)
 
 TEST_F (SymbolicLorentzConeTest, Test1)
 
 TEST_F (SymbolicLorentzConeTest, Test2)
 
 TEST_F (SymbolicLorentzConeTest, Test3)
 
 TEST_F (SymbolicLorentzConeTest, Test4)
 
 TEST_F (SymbolicLorentzConeTest, Test5)
 
 TEST_F (SymbolicLorentzConeTest, Test6)
 
 TEST_F (SymbolicLorentzConeTest, Test7)
 
 TEST_F (SymbolicLorentzConeTest, Test8)
 
 TEST_F (SymbolicLorentzConeTest, Test9)
 
 TEST_F (SymbolicLorentzConeTest, TestLinearConstraint)
 
 TEST_F (SymbolicLorentzConeTest, TestError)
 
 GTEST_TEST (testMathematicalProgram, AddSymbolicRotatedLorentzConeConstraint1)
 
 GTEST_TEST (testMathematicalProgram, AddSymbolicRotatedLorentzConeConstraint2)
 
 GTEST_TEST (testMathematicalProgram, AddSymbolicRotatedLorentzConeConstraint3)
 
 GTEST_TEST (testMathematicalProgram, AddSymbolicRotatedLorentzConeConstraint4)
 
 GTEST_TEST (testMathematicalProgram, AddPositiveSemidefiniteConstraint)
 
void CheckAddedQuadraticCost (MathematicalProgram *prog, const Eigen::MatrixXd &Q, const Eigen::VectorXd &b, const VectorXDecisionVariable &x)
 
 GTEST_TEST (testMathematicalProgram, AddQuadraticCost)
 
void CheckAddedSymbolicQuadraticCostUserFun (const MathematicalProgram &prog, const Expression &e, const Binding< Cost > &binding, int num_quadratic_cost)
 
void CheckAddedSymbolicQuadraticCost (MathematicalProgram *prog, const Expression &e)
 
 GTEST_TEST (testMathematicalProgram, AddSymbolicQuadraticCost)
 
 GTEST_TEST (testMathematicalProgram, TestL2NormCost)
 
symbolic::Monomial transform (const symbolic::Monomial &monomial, const map< Variable::Id, Variable > &var_id_to_var)
 
symbolic::Polynomial transform (const symbolic::Polynomial &poly, const map< Variable::Id, Variable > &var_id_to_var)
 
bool ArePolynomialIsomorphic (const symbolic::Polynomial &p1, const symbolic::Polynomial &p2, const map< Variable::Id, Variable > &var_id_to_var)
 
void CheckAddedPolynomialCost (MathematicalProgram *prog, const Expression &e)
 
 GTEST_TEST (testMathematicalProgram, testAddPolynomialCost)
 
 GTEST_TEST (testMathematicalProgram, testAddCostThrowError)
 
 GTEST_TEST (testMathematicalProgram, testAddGenericCost)
 
void CheckSolver (const MathematicalProgram &prog, SolverId desired_solver_id)
 Test that prog was solved by desired_solver_id. More...
 
void RunSolver (MathematicalProgram *prog, const MathematicalProgramSolverInterface &solver)
 Run solver.Solve() on the given prog. More...
 
 GTEST_TEST (TestMixedIntegerOptimization, TestMixedIntegerLinearProgram1)
 
 GTEST_TEST (TestMixedIntegerOptimization, TestMixedIntegerLinearProgram2)
 
 INSTANTIATE_TEST_CASE_P (MosekTest, LinearProgramTest,::testing::Combine(::testing::ValuesIn(linear_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(linear_problems())))
 
 INSTANTIATE_TEST_CASE_P (MosekTest, QuadraticProgramTest,::testing::Combine(::testing::ValuesIn(quadratic_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(quadratic_problems())))
 
void RunNonlinearProgram (MathematicalProgram *prog, std::function< void(void)> test_func)
 
 GTEST_TEST (testNonlinearProgram, BoundingBoxTest)
 
 GTEST_TEST (testNonlinearProgram, trivialLinearSystem)
 
 GTEST_TEST (testNonlinearProgram, trivialLinearEquality)
 
 GTEST_TEST (testNonlinearProgram, QuadraticCost)
 
 GTEST_TEST (testNonlinearProgram, testNonConvexQPproblem1)
 
 GTEST_TEST (testNonlinearProgram, testNonConvexQPproblem2)
 
 GTEST_TEST (testNonlinearProgram, testLowerBoundedProblem)
 
 GTEST_TEST (testNonlinearProgram, sixHumpCamel)
 
 GTEST_TEST (testNonlinearProgram, testGloptiPolyConstrainedMinimization)
 
 GTEST_TEST (testNonlinearProgram, linearPolynomialConstraint)
 
 GTEST_TEST (testNonlinearProgram, polynomialConstraint)
 
 GTEST_TEST (testNonlinearProgram, MinDistanceFromPlaneToOrigin)
 
 GTEST_TEST (testNonlinearProgram, ConvexCubicProgramExample)
 
std::set< CostFormlinear_cost_form ()
 
std::set< ConstraintFormlinear_constraint_form ()
 
std::set< CostFormquadratic_cost_form ()
 
double EvaluateSolutionCost (const MathematicalProgram &prog)
 
void ExpectSolutionCostAccurate (const MathematicalProgram &prog, double tol)
 
std::vector< QuadraticProblemsquadratic_problems ()
 
void TestQPonUnitBallExample (const MathematicalProgramSolverInterface &solver)
 
 INSTANTIATE_TEST_CASE_P (SnoptTest, LinearProgramTest,::testing::Combine(::testing::ValuesIn(linear_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(linear_problems())))
 
 INSTANTIATE_TEST_CASE_P (SnoptTest, QuadraticProgramTest,::testing::Combine(::testing::ValuesIn(quadratic_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(quadratic_problems())))
 

Enumeration Type Documentation

enum ConstraintForm
strong
Enumerator
kGeneric 
kNonSymbolic 
kSymbolic 
kFormula 
enum CostForm
strong
Enumerator
kGeneric 
kNonSymbolic 
kSymbolic 
enum LinearProblems
strong
Enumerator
kLinearFeasibilityProgram 
kLinearProgram0 
kLinearProgram1 
kLinearProgram2 
kLinearProgram3 
enum QuadraticProblems
strong
Enumerator
kQuadraticProgram0 
kQuadraticProgram1 
kQuadraticProgram2 
kQuadraticProgram3 
kQuadraticProgram4 

Function Documentation

void drake::solvers::test::AddSolverIfAvailable ( std::list< std::unique_ptr< MathematicalProgramSolverInterface >> *  solver_list)
bool drake::solvers::test::ArePolynomialIsomorphic ( const symbolic::Polynomial p1,
const symbolic::Polynomial p2,
const map< Variable::Id, Variable > &  var_id_to_var 
)

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void drake::solvers::test::CheckAddedIndeterminates ( const MathematicalProgram prog,
const Eigen::MatrixBase< Derived > &  indeterminates,
const string &  indeterminates_name 
)

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void drake::solvers::test::CheckAddedPolynomialCost ( MathematicalProgram prog,
const Expression &  e 
)

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void drake::solvers::test::CheckAddedQuadraticCost ( MathematicalProgram prog,
const Eigen::MatrixXd &  Q,
const Eigen::VectorXd &  b,
const VectorXDecisionVariable x 
)

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void drake::solvers::test::CheckAddedSymbolicLinearCost ( MathematicalProgram prog,
const Expression &  e 
)

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void drake::solvers::test::CheckAddedSymbolicLinearCostUserFun ( const MathematicalProgram prog,
const Expression &  e,
const Binding< Cost > &  binding,
int  num_linear_costs 
)

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void drake::solvers::test::CheckAddedSymbolicQuadraticCost ( MathematicalProgram prog,
const Expression &  e 
)

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void drake::solvers::test::CheckAddedSymbolicQuadraticCostUserFun ( const MathematicalProgram prog,
const Expression &  e,
const Binding< Cost > &  binding,
int  num_quadratic_cost 
)

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void drake::solvers::test::CheckAddedVariable ( const MathematicalProgram prog,
const Eigen::MatrixBase< Derived > &  var,
const string &  var_name,
bool  is_symmetric,
MathematicalProgram::VarType  type_expected 
)

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enable_if<is_same<typename Derived1::Scalar, Variable>::value && is_same<typename Derived2::Scalar, double>::value>::type drake::solvers::test::CheckGetSolution ( const MathematicalProgram prog,
const Eigen::MatrixBase< Derived1 > &  vars,
const Eigen::MatrixBase< Derived2 > &  val_expected 
)

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void CheckSolver ( const MathematicalProgram prog,
SolverId  desired_solver_id 
)

Test that prog was solved by desired_solver_id.

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double drake::solvers::test::EvaluateSolutionCost ( const MathematicalProgram prog)

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void ExpectSolutionCostAccurate ( const MathematicalProgram prog,
double  tol 
)

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drake::solvers::test::GTEST_TEST ( TestIndeterminates  ,
TestIndeterminatesListRef   
)

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drake::solvers::test::GTEST_TEST ( TestDecisionVariable  ,
TestVariableListRef   
)

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drake::solvers::test::GTEST_TEST ( TestBinding  ,
constructBinding   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
simpleLCP   
)

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drake::solvers::test::GTEST_TEST ( testLinearSystemSolver  ,
trivialExample   
)
drake::solvers::test::GTEST_TEST ( TestMixedIntegerOptimization  ,
TestMixedIntegerLinearProgram1   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testUnconstrainedQPDispatch   
)

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drake::solvers::test::GTEST_TEST ( testLinearSystemSolver  ,
InfeasibleProblem   
)

Simple linear system without a solution 3 * x = 1 2 * x + y = 2 x - y = 0.

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
multiLCP   
)

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drake::solvers::test::GTEST_TEST ( TestMixedIntegerOptimization  ,
TestMixedIntegerLinearProgram2   
)

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drake::solvers::test::GTEST_TEST ( testLinearSystemSolver  ,
UnderDeterminedProblem   
)

Under-determined linear system 3 * x + y = 1 x + z = 2.

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GTEST_TEST ( QPtest  ,
TestUnitBallExample   
)

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drake::solvers::test::GTEST_TEST ( testNonlinearProgram  ,
BoundingBoxTest   
)

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drake::solvers::test::GTEST_TEST ( GurobiTest  ,
TestInitialGuess   
)

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drake::solvers::test::GTEST_TEST ( testLinearSystemSolver  ,
linearMatrixEqualityExample   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testLinearlyConstrainedQPDispatch   
)

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drake::solvers::test::GTEST_TEST ( testNonlinearProgram  ,
trivialLinearSystem   
)

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drake::solvers::test::GTEST_TEST ( testNonlinearProgram  ,
trivialLinearEquality   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testNotStrictlyPositiveDefiniteHessianQP   
)

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drake::solvers::test::GTEST_TEST ( testNonlinearProgram  ,
QuadraticCost   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testNonPositiveSemidefiniteHessianQP   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testUnboundedQP   
)

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drake::solvers::test::GTEST_TEST ( testNonlinearProgram  ,
testNonConvexQPproblem1   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testNegativeDefiniteHessianQP   
)

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drake::solvers::test::GTEST_TEST ( testNonlinearProgram  ,
testNonConvexQPproblem2   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testPositiveHessianInfeasibleConstraint   
)

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drake::solvers::test::GTEST_TEST ( testNonlinearProgram  ,
testLowerBoundedProblem   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddContinuousVariables1   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testIndefiniteHessian   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddContinuousVariable2   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddContinuousVariable3   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testPSDhessianUnbounded   
)

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drake::solvers::test::GTEST_TEST ( testNonlinearProgram  ,
sixHumpCamel   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddContinuousVariable4   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testNegativeHessianUniqueOptimum   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddContinuousVariable5   
)

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drake::solvers::test::GTEST_TEST ( testNonlinearProgram  ,
testGloptiPolyConstrainedMinimization   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddContinuousVariables6   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testNegativeHessianUnbounded   
)

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drake::solvers::test::GTEST_TEST ( testNonlinearProgram  ,
linearPolynomialConstraint   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddContinuousVariables7   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testPSDHessianUniqueOptimal   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddContinuousVariables8   
)

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drake::solvers::test::GTEST_TEST ( testNonlinearProgram  ,
polynomialConstraint   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testIndefiniteHessianInfeasible   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddSymmetricVariable1   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddSymmetricVariable2   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testFeasibilityTolerance   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddBinaryVariable1   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddBinaryVariable2   
)

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drake::solvers::test::GTEST_TEST ( testEqualityConstrainedQPSolver  ,
testLinearCost   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddBinaryVariable3   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddBinaryVariable4   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddBinaryVariable5   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddBinaryVariable6   
)

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drake::solvers::test::GTEST_TEST ( testNonlinearProgram  ,
MinDistanceFromPlaneToOrigin   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddBinaryVariable7   
)

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drake::solvers::test::GTEST_TEST ( testAddVariable  ,
testAddBinaryVariable8   
)

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drake::solvers::test::GTEST_TEST ( testNonlinearProgram  ,
ConvexCubicProgramExample   
)

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drake::solvers::test::GTEST_TEST ( testAddIndeterminates  ,
testAddIndeterminates1   
)

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drake::solvers::test::GTEST_TEST ( testAddIndeterminates  ,
testAddIndeterminates2   
)

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drake::solvers::test::GTEST_TEST ( testAddIndeterminates  ,
testAddIndeterminates3   
)

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drake::solvers::test::GTEST_TEST ( testAddIndeterminates  ,
testAddIndeterminates4   
)

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drake::solvers::test::GTEST_TEST ( testGetSolution  ,
testSetSolution1   
)

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drake::solvers::test::GTEST_TEST ( TestSOCP  ,
TestEllipsoidsSeparation0   
)
drake::solvers::test::GTEST_TEST ( TestSOCP  ,
TestEllipsoidsSeparation1   
)
drake::solvers::test::GTEST_TEST ( TestSOCP  ,
TestEllipsoidsSeparation2   
)
drake::solvers::test::GTEST_TEST ( TestSOCP  ,
TestEllipsoidsSeparation3   
)
drake::solvers::test::GTEST_TEST ( TestSOCP  ,
TestQPasSOCP   
)
drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
testBadBindingVariable   
)
drake::solvers::test::GTEST_TEST ( TestSOCP  ,
TestFindSpringEquilibrium   
)
drake::solvers::test::GTEST_TEST ( TestSemidefiniteProgram  ,
TestTrivialSDP   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
testAddFunction   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
BoundingBoxTest2   
)

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drake::solvers::test::GTEST_TEST ( TestSemidefiniteProgram  ,
TestCommonLyapunov   
)

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drake::solvers::test::GTEST_TEST ( TestSemidefiniteProgram  ,
TestOuterEllipsoid   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddCostTest   
)

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drake::solvers::test::GTEST_TEST ( TestSemidefiniteProgram  ,
TestEigenvalueProblem   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearCostSymbolic   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolic1   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolic2   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolic3   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolic4   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolic5   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolic6   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolic7   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolic8   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolic9   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicFormula1   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicFormula2   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicFormula3   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicFormula4   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicFormula5   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicFormula6   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicFormula7   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicFormulaException1   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicFormulaException2   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicFormulaAnd1   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicFormulaAnd2   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicFormulaAndException   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicArrayFormula1   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicArrayFormula2   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicArrayFormula3   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddLinearConstraintSymbolicArrayFormulaException   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddSymbolicLinearEqualityConstraint1   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddSymbolicLinearEqualityConstraint2   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddSymbolicLinearEqualityConstraint3   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddSymbolicLinearEqualityConstraint4   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddSymbolicLinearEqualityConstraint5   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddSymbolicLinearEqualityConstraint6   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddSymbolicLinearEqualityConstraintException1   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddSymbolicLinearEqualityConstraintException2   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddSymbolicLinearEqualityConstraintException3   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddSymbolicRotatedLorentzConeConstraint1   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddSymbolicRotatedLorentzConeConstraint2   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddSymbolicRotatedLorentzConeConstraint3   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddSymbolicRotatedLorentzConeConstraint4   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddPositiveSemidefiniteConstraint   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddQuadraticCost   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
AddSymbolicQuadraticCost   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
TestL2NormCost   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
testAddPolynomialCost   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
testAddCostThrowError   
)

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drake::solvers::test::GTEST_TEST ( testMathematicalProgram  ,
testAddGenericCost   
)

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drake::solvers::test::INSTANTIATE_TEST_CASE_P ( MosekTest  ,
LinearProgramTest  ,
::testing::Combine(::testing::ValuesIn(linear_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(linear_problems()))   
)
drake::solvers::test::INSTANTIATE_TEST_CASE_P ( IpoptTest  ,
LinearProgramTest  ,
::testing::Combine(::testing::ValuesIn(linear_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(linear_problems()))   
)
drake::solvers::test::INSTANTIATE_TEST_CASE_P ( SnoptTest  ,
LinearProgramTest  ,
::testing::Combine(::testing::ValuesIn(linear_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(linear_problems()))   
)
drake::solvers::test::INSTANTIATE_TEST_CASE_P ( GurobiTest  ,
LinearProgramTest  ,
::testing::Combine(::testing::ValuesIn(linear_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(linear_problems()))   
)

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drake::solvers::test::INSTANTIATE_TEST_CASE_P ( SnoptTest  ,
QuadraticProgramTest  ,
::testing::Combine(::testing::ValuesIn(quadratic_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(quadratic_problems()))   
)
drake::solvers::test::INSTANTIATE_TEST_CASE_P ( MosekTest  ,
QuadraticProgramTest  ,
::testing::Combine(::testing::ValuesIn(quadratic_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(quadratic_problems()))   
)
drake::solvers::test::INSTANTIATE_TEST_CASE_P ( IpoptTest  ,
QuadraticProgramTest  ,
::testing::Combine(::testing::ValuesIn(quadratic_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(quadratic_problems()))   
)
drake::solvers::test::INSTANTIATE_TEST_CASE_P ( GurobiTest  ,
QuadraticProgramTest  ,
::testing::Combine(::testing::ValuesIn(quadratic_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(quadratic_problems()))   
)
std::set< ConstraintForm > linear_constraint_form ( )

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std::set< CostForm > linear_cost_form ( )

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std::vector< LinearProblems > linear_problems ( )

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std::set< CostForm > quadratic_cost_form ( )

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std::vector< QuadraticProblems > quadratic_problems ( )

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void drake::solvers::test::RunNonlinearProgram ( MathematicalProgram prog,
std::function< void(void)>  test_func 
)

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void RunSolver ( MathematicalProgram prog,
const MathematicalProgramSolverInterface solver 
)

Run solver.Solve() on the given prog.

If the solver is absent or does not find a solution, stop immediately via an exception. (Were we to continue, testing statements that examine the results would be likely to fail with confusing messages, so best to avoid them entirely.)

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drake::solvers::test::TEST_F ( InfeasibleLinearProgramTest0  ,
TestGurobiInfeasible   
)

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drake::solvers::test::TEST_F ( UnboundedLinearProgramTest0  ,
TestGurobiUnbounded   
)

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drake::solvers::test::TEST_F ( SymbolicLorentzConeTest  ,
Test1   
)
drake::solvers::test::TEST_F ( SymbolicLorentzConeTest  ,
Test2   
)
drake::solvers::test::TEST_F ( SymbolicLorentzConeTest  ,
Test3   
)
drake::solvers::test::TEST_F ( SymbolicLorentzConeTest  ,
Test4   
)
drake::solvers::test::TEST_F ( SymbolicLorentzConeTest  ,
Test5   
)
drake::solvers::test::TEST_F ( SymbolicLorentzConeTest  ,
Test6   
)
drake::solvers::test::TEST_F ( SymbolicLorentzConeTest  ,
Test7   
)

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drake::solvers::test::TEST_F ( SymbolicLorentzConeTest  ,
Test8   
)

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drake::solvers::test::TEST_F ( SymbolicLorentzConeTest  ,
Test9   
)

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drake::solvers::test::TEST_F ( SymbolicLorentzConeTest  ,
TestLinearConstraint   
)
drake::solvers::test::TEST_F ( SymbolicLorentzConeTest  ,
TestError   
)

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TEST_P ( LinearProgramTest  ,
TestLP   
)

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TEST_P ( QuadraticProgramTest  ,
TestQP   
)

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void TestQPonUnitBallExample ( const MathematicalProgramSolverInterface solver)

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symbolic::Monomial drake::solvers::test::transform ( const symbolic::Monomial monomial,
const map< Variable::Id, Variable > &  var_id_to_var 
)

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symbolic::Polynomial drake::solvers::test::transform ( const symbolic::Polynomial poly,
const map< Variable::Id, Variable > &  var_id_to_var 
)

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void drake::solvers::test::VerifyAddedCost1 ( const MathematicalProgram prog,
const shared_ptr< Cost > &  cost,
const Eigen::Ref< const Eigen::VectorXd > &  x_value,
int  num_generic_costs_expected 
)

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void drake::solvers::test::VerifyAddedCost2 ( const MathematicalProgram prog,
const GenericTrivialCost2 cost,
const shared_ptr< Cost > &  returned_cost,
const Eigen::Ref< const Eigen::Vector2d > &  x_value,
int  num_generic_costs_expected 
)

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