Drake
drake::solvers::test Namespace Reference

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  DistanceToTetrahedronExample

class  GenericTrivialConstraint1

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

Adapt from the simple test on the Gurobi documentation. More...

class  TestEllipsoidsSeparation
This test is taken from the course notes of EE127A from University of California, Berkeley The goal is to find a hyperplane, that separates two ellipsoids E₁ = x₁ + R₁ * u₁, |u₁| ≤ 1 E₂ = x₂ + R₂ * u₂, |u₂| ≤ 1 A hyperplane aᵀ * x = b separates these two ellipsoids, if and only if for SOCP p* = min t₁ + t₂ s.t t₁ ≥ |R₁ᵀ * a| t₂ ≥ |R₂ᵀ * a| aᵀ(x₂-x₁) = 1 the optimal solution p* is no larger than 1. More...

class  TestFindSpringEquilibrium

class  TestQPasSOCP
This example is taken from the course notes of EE127A from University of California, Berkeley For a quadratic program 0.5 * x' * Q * x + c' * x s.t b_lb <= A * x <= b_ub It can be casted as an SOCP, as follows By introducing a new variable w = Q^{1/2}*x and y, z The equivalent SOCP is min c'x + y s.t 2 * y >= w' * w w = Q^{1/2} * x b_lb <= A * x <= b_ub. More...

class  UnboundedLinearProgramTest0
An unbounded linear program. More...

class  UnboundedLinearProgramTest1
An unbounded linear program. More...

class  UnitLengthProgramExample
A simple non-convex problem with a quadratic equality constraint min 0 s.t xᵀx = 1 This test is meant to verify that we can add a quadratic constraint to a program, and solve it through nonlinear optimization. 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  EllipsoidsSeparationProblem { kProblem0, kProblem1, kProblem2, kProblem3 }

enum  QPasSOCPProblem { kProblem0, kProblem1 }

enum  FindSpringEquilibriumProblem { kProblem0 }
This example is taken from the paper Applications of second-order cone programming By M.S.Lobo, L.Vandenberghe, S.Boyd and H.Lebret, Section 3.6 http://www.seas.ucla.edu/~vandenbe/publications/socp.pdf The problem tries to find the equilibrium state of a mechanical system, which consists of n nodes at position (x₁,y₁), (x₂,y₂), ..., (xₙ,yₙ) in ℝ². More...

## Functions

template<typename Solver >
void AddSolverIfAvailable (std::list< std::unique_ptr< MathematicalProgramSolverInterface >> *solver_list)

GTEST_TEST (TestBinding, TestConstraint)

GTEST_TEST (TestBinding, TestCost)

GTEST_TEST (TestBinding, TestEvaluator)

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)

GTEST_TEST (QPtest, TestUnitBallExample)

GTEST_TEST (GurobiTest, TestInitialGuess)

TEST_P (TestEllipsoidsSeparation, TestSOCP)

INSTANTIATE_TEST_CASE_P (GurobiTest, TestEllipsoidsSeparation,::testing::ValuesIn(GetEllipsoidsSeparationProblems()))

TEST_P (TestQPasSOCP, TestSOCP)

INSTANTIATE_TEST_CASE_P (GurobiTest, TestQPasSOCP,::testing::ValuesIn(GetQPasSOCPProblems()))

TEST_P (TestFindSpringEquilibrium, TestSOCP)

INSTANTIATE_TEST_CASE_P (GurobiTest, TestFindSpringEquilibrium,::testing::ValuesIn(GetFindSpringEquilibriumProblems()))

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())))

TEST_F (InfeasibleLinearProgramTest0, TestIpopt)

TEST_F (UnboundedLinearProgramTest0, TestIpopt)

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 ExpectedType , typename T >
void CheckAddedVariable (const MathematicalProgram &prog, const T &var, int rows, int cols, 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 (testMathematicalProgram, testConstructor)

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, testGetSolution1)

GTEST_TEST (testGetSolution, testGetSolution2)

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)

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

void CheckAddedSymbolicLinearCost (MathematicalProgram *prog, const Expression &e)

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)

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

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, testClone)

GTEST_TEST (testMathematicalProgram, testEvalBinding)

GTEST_TEST (testMathematicalProgram, testSetAndGetInitialGuess)

GTEST_TEST (testMathematicalProgram, testNonlinearExpressionConstraints)

GTEST_TEST (testMathematicalProgram, testSetSolverResult)

GTEST_TEST (testMathematicalProgram, TestSolverOptions)

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...

template<typename Constraint >
::testing::AssertionResult IsBindingEqual (const Binding< Constraint > &binding1, const Binding< Constraint > &binding2)
Determine if two bindings are the same. More...

template<typename Constraint >
::testing::AssertionResult IsVectorOfBindingEqual (const std::vector< Binding< Constraint >> &bindings1, const std::vector< Binding< Constraint >> &bindings2)
Determines if two vectors of bindings are the same. 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())))

TEST_F (UnboundedLinearProgramTest0, Test)

TEST_F (UnboundedLinearProgramTest1, Test)

INSTANTIATE_TEST_CASE_P (MosekTest, TestEllipsoidsSeparation,::testing::ValuesIn(GetEllipsoidsSeparationProblems()))

INSTANTIATE_TEST_CASE_P (MosekTest, TestQPasSOCP,::testing::ValuesIn(GetQPasSOCPProblems()))

INSTANTIATE_TEST_CASE_P (MosekTest, TestFindSpringEquilibrium,::testing::ValuesIn(GetFindSpringEquilibriumProblems()))

GTEST_TEST (TestSemidefiniteProgram, TrivialSDP)

GTEST_TEST (TestSemidefiniteProgram, CommonLyapunov)

GTEST_TEST (TestSemidefiniteProgram, OuterEllipsoid)

GTEST_TEST (TestSemidefiniteProgram, EigenvalueProblem)

GTEST_TEST (MosekTest, TestLogFile)

TEST_F (UnboundedLinearProgramTest0, TestNlopt)

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, 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)

GTEST_TEST (testNonlinearProgram, UnitLengthConstraint)

GTEST_TEST (testNonlinearProgram, CallbackTest)

std::set< CostFormlinear_cost_form ()

std::set< ConstraintFormlinear_constraint_form ()

double EvaluateSolutionCost (const MathematicalProgram &prog)

void ExpectSolutionCostAccurate (const MathematicalProgram &prog, double tol)

GTEST_TEST (QPtest, TestUnconstrainedQP)

GTEST_TEST (QPtest, TestUnbounded)

GTEST_TEST (QPtest, TestInfeasible)

GTEST_TEST (LPtest, TestUnbounded)

void TestQPonUnitBallExample (const MathematicalProgramSolverInterface &solver)

GTEST_TEST (LinearProgramTest, Test0)

GTEST_TEST (LinearProgramTest, Test1)

GTEST_TEST (LinearProgramTest, Test2)

INSTANTIATE_TEST_CASE_P (SCSTest, LinearProgramTest,::testing::Combine(::testing::ValuesIn(linear_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(linear_problems())))

TEST_F (InfeasibleLinearProgramTest0, TestInfeasible)

TEST_F (UnboundedLinearProgramTest0, TestUnbounded)

INSTANTIATE_TEST_CASE_P (SCSTest, TestEllipsoidsSeparation,::testing::ValuesIn(GetEllipsoidsSeparationProblems()))

INSTANTIATE_TEST_CASE_P (SCSTest, TestQPasSOCP,::testing::ValuesIn(GetQPasSOCPProblems()))

INSTANTIATE_TEST_CASE_P (SCSTest, TestFindSpringEquilibrium,::testing::ValuesIn(GetFindSpringEquilibriumProblems()))

std::vector< EllipsoidsSeparationProblemGetEllipsoidsSeparationProblems ()

std::vector< QPasSOCPProblemGetQPasSOCPProblems ()

std::vector< FindSpringEquilibriumProblemGetFindSpringEquilibriumProblems ()

void TestTrivialSDP (const MathematicalProgramSolverInterface &solver, double tol)
Test a trivial semidefinite problem. More...

void FindCommonLyapunov (const MathematicalProgramSolverInterface &solver, double tol)

void FindOuterEllipsoid (const MathematicalProgramSolverInterface &solver, double tol)

void SolveEigenvalueProblem (const MathematicalProgramSolverInterface &solver, double tol)

INSTANTIATE_TEST_CASE_P (SnoptTest, LinearProgramTest,::testing::Combine(::testing::ValuesIn(linear_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(linear_problems())))

TEST_F (InfeasibleLinearProgramTest0, TestSnopt)

TEST_F (UnboundedLinearProgramTest0, TestSnopt)

GTEST_TEST (SnoptTest, TestSetOption)

GTEST_TEST (SnoptTest, TestPrintFile)

GTEST_TEST (SnoptTest, TestSparseCost)

GTEST_TEST (SnoptTest, DistanceToTetrahedron)

## Enumeration Type Documentation

 enum ConstraintForm
strong
Enumerator
kGeneric
kNonSymbolic
kSymbolic
kFormula
 enum CostForm
strong
Enumerator
kGeneric
kNonSymbolic
kSymbolic
 strong
Enumerator
kProblem0
kProblem1
kProblem2
kProblem3
 strong

This example is taken from the paper Applications of second-order cone programming By M.S.Lobo, L.Vandenberghe, S.Boyd and H.Lebret, Section 3.6 http://www.seas.ucla.edu/~vandenbe/publications/socp.pdf The problem tries to find the equilibrium state of a mechanical system, which consists of n nodes at position (x₁,y₁), (x₂,y₂), ..., (xₙ,yₙ) in ℝ².

The nodes are connected by springs with given coefficient. The spring generate force when it is stretched, but not when it is compressed. Namely, the spring force is (spring_length - spring_rest_length) * spring_stiffness, if spring_length ≥ spring_rest_length; otherwise the spring force is zero. weightᵢ is the mass * gravity_acceleration of the i'th link. The equilibrium point is obtained when the total energy is minimized namely min ∑ᵢ weightᵢ * yᵢ + stiffness/2 * tᵢ² s.t sqrt((xᵢ - xᵢ₊₁)² + (yᵢ - yᵢ₊₁)²) - spring_rest_length ≤ tᵢ 0 ≤ tᵢ (x₁,y₁) = end_pos1 (xₙ,yₙ) = end_pos2 By introducing a slack variable z ≥ t₁² + ... + tₙ₋₁², the problem becomes an SOCP, with both Lorentz cone and rotated Lorentz cone constraints

Enumerator
kProblem0
 enum LinearProblems
strong
Enumerator
kLinearFeasibilityProgram
kLinearProgram0
kLinearProgram1
kLinearProgram2
kLinearProgram3
 enum QPasSOCPProblem
strong
Enumerator
kProblem0
kProblem1
strong
Enumerator

## 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::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 T & var, int rows, int cols, const string & var_name, bool is_symmetric, MathematicalProgram::VarType type_expected )

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 enable_if::value && is_same::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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 void FindCommonLyapunov ( const MathematicalProgramSolverInterface & solver, double tol )

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 void FindOuterEllipsoid ( const MathematicalProgramSolverInterface & solver, double tol )

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 std::vector< EllipsoidsSeparationProblem > GetEllipsoidsSeparationProblems ( )

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 std::vector< FindSpringEquilibriumProblem > GetFindSpringEquilibriumProblems ( )

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 std::vector< QPasSOCPProblem > GetQPasSOCPProblems ( )

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 drake::solvers::test::GTEST_TEST ( QPtest , TestUnconstrainedQP )

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

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

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

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 drake::solvers::test::GTEST_TEST ( LinearProgramTest , Test0 )

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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 ( TestBinding , TestCost )

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

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 drake::solvers::test::GTEST_TEST ( QPtest , TestUnbounded )

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 drake::solvers::test::GTEST_TEST ( SnoptTest , TestSetOption )

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 GTEST_TEST ( QPtest , TestUnitBallExample )

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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 ( GurobiTest , TestInitialGuess )

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 drake::solvers::test::GTEST_TEST ( LinearProgramTest , Test1 )

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

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 drake::solvers::test::GTEST_TEST ( QPtest , TestInfeasible )

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 GTEST_TEST ( TestSemidefiniteProgram , TrivialSDP )

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

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 drake::solvers::test::GTEST_TEST ( SnoptTest , TestPrintFile )

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 drake::solvers::test::GTEST_TEST ( LinearProgramTest , Test2 )

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 GTEST_TEST ( TestSemidefiniteProgram , CommonLyapunov )

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 GTEST_TEST ( TestSemidefiniteProgram , OuterEllipsoid )

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

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 drake::solvers::test::GTEST_TEST ( LPtest , TestUnbounded )

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 GTEST_TEST ( TestSemidefiniteProgram , EigenvalueProblem )

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

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 drake::solvers::test::GTEST_TEST ( MosekTest , TestLogFile )

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 drake::solvers::test::GTEST_TEST ( SnoptTest , TestSparseCost )

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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 ( SnoptTest , DistanceToTetrahedron )

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

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 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 ( 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 ( 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 , LinearProgramTest , ::testing::Combine(::testing::ValuesIn(linear_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(linear_problems())) )
 drake::solvers::test::INSTANTIATE_TEST_CASE_P ( MosekTest , TestEllipsoidsSeparation , ::testing::ValuesIn(GetEllipsoidsSeparationProblems()) )
 drake::solvers::test::INSTANTIATE_TEST_CASE_P ( MosekTest , TestQPasSOCP , ::testing::ValuesIn(GetQPasSOCPProblems()) )
 drake::solvers::test::INSTANTIATE_TEST_CASE_P ( MosekTest , TestFindSpringEquilibrium , ::testing::ValuesIn(GetFindSpringEquilibriumProblems()) )
 drake::solvers::test::INSTANTIATE_TEST_CASE_P ( SCSTest , LinearProgramTest , ::testing::Combine(::testing::ValuesIn(linear_cost_form()),::testing::ValuesIn(linear_constraint_form()),::testing::ValuesIn(linear_problems())) )
 drake::solvers::test::INSTANTIATE_TEST_CASE_P ( SCSTest , TestEllipsoidsSeparation , ::testing::ValuesIn(GetEllipsoidsSeparationProblems()) )
 drake::solvers::test::INSTANTIATE_TEST_CASE_P ( SCSTest , TestQPasSOCP , ::testing::ValuesIn(GetQPasSOCPProblems()) )
 drake::solvers::test::INSTANTIATE_TEST_CASE_P ( SCSTest , TestFindSpringEquilibrium , ::testing::ValuesIn(GetFindSpringEquilibriumProblems()) )
 drake::solvers::test::INSTANTIATE_TEST_CASE_P ( GurobiTest , TestEllipsoidsSeparation , ::testing::ValuesIn(GetEllipsoidsSeparationProblems()) )
 drake::solvers::test::INSTANTIATE_TEST_CASE_P ( GurobiTest , TestQPasSOCP , ::testing::ValuesIn(GetQPasSOCPProblems()) )
 drake::solvers::test::INSTANTIATE_TEST_CASE_P ( GurobiTest , TestFindSpringEquilibrium , ::testing::ValuesIn(GetFindSpringEquilibriumProblems()) )
 ::testing::AssertionResult drake::solvers::test::IsBindingEqual ( const Binding< Constraint > & binding1, const Binding< Constraint > & binding2 )

Determine if two bindings are the same.

Two bindings are the same if

1. They contain the same constraint pointer.
2. Their bound variables are the same.

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 ::testing::AssertionResult drake::solvers::test::IsVectorOfBindingEqual ( const std::vector< Binding< Constraint >> & bindings1, const std::vector< Binding< Constraint >> & bindings2 )

Determines if two vectors of bindings are the same.

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 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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 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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 void SolveEigenvalueProblem ( const MathematicalProgramSolverInterface & solver, double tol )

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

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 drake::solvers::test::TEST_F ( SymbolicLorentzConeTest , Test1 )
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 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 , TestLinearConstraint )
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 TEST_P ( LinearProgramTest , TestLP )

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 TEST_P ( QuadraticProgramTest , TestQP )

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 TEST_P ( TestEllipsoidsSeparation , TestSOCP )

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 TEST_P ( TestQPasSOCP , TestSOCP )

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 TEST_P ( TestFindSpringEquilibrium , TestSOCP )

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 void TestQPonUnitBallExample ( const MathematicalProgramSolverInterface & solver )

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 void TestTrivialSDP ( const MathematicalProgramSolverInterface & solver, double tol )

Test a trivial semidefinite problem.

min S(0, 0) + S(1, 1) s.t S(1, 0) = 1 S is p.s.d The analytical solution is S = [1 1] [1 1]

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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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