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// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
//
// This file is part of the roboptim.
//
// roboptim is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// roboptim is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#include "shared-tests/fixture.hh"
#include <iostream>
#include <roboptim/core/io.hh>
#include <roboptim/core/plugin/dummy.hh>
using namespace roboptim;
// Specify the solver that will be used.
typedef DummySolver solver_t;
boost::shared_ptr<boost::test_tools::output_test_stream> output;
// Define a simple function.
struct F : public Function
{
F () : Function (4, 1, "a * d * (a + b + c) + d")
{}
void impl_compute (result_t& result,
const argument_t& argument) const throw ()
{
result (0) = argument[0] * argument[3]
* (argument[0] + argument[1] + argument[2]) + argument[3];
}
// No gradient, hessian.
};
struct CountUnaryFunction
{
typedef void Result;
CountUnaryFunction (int& cnt)
: cnt_ (cnt)
{}
void operator () (double x)
{
(*output) << "Discrete point: " << x
<< " (cnt: " << ++cnt_ << ")"
<< std::endl;
}
private:
int& cnt_;
};
BOOST_FIXTURE_TEST_SUITE (core, TestSuiteConfiguration)
BOOST_AUTO_TEST_CASE (simple)
{
output = retrievePattern ("simple");
// Instantiate the function and the problem.
F f;
DummySolver::problem_t pb (f);
(*output) << pb << std::endl;
// Check that the problem is well formed.
BOOST_CHECK_EQUAL (&pb.function (), &f);
BOOST_CHECK_EQUAL (pb.constraints ().size (), 0u);
BOOST_CHECK (!pb.startingPoint ());
Function::vector_t x (4);
x.setZero ();
pb.startingPoint () = x;
BOOST_CHECK_EQUAL (pb.startingPoint ()
&& pb.startingPoint ()->size (), 4);
BOOST_CHECK_EQUAL (pb.boundsVector ().size (), 0u);
BOOST_CHECK_EQUAL (pb.argumentBounds ().size (), 4u);
BOOST_CHECK
(pb.argumentBounds ()[0] == Function::makeInfiniteInterval ()
&& pb.argumentBounds ()[1] == Function::makeInfiniteInterval ()
&& pb.argumentBounds ()[2] == Function::makeInfiniteInterval ()
&& pb.argumentBounds ()[3] == Function::makeInfiniteInterval ());
BOOST_CHECK_EQUAL (pb.scalesVector ().size (), 0u);
BOOST_CHECK_EQUAL (pb.argumentScales ().size (), 4u);
BOOST_CHECK
(pb.argumentScales ()[0] == 1.
&& pb.argumentScales ()[1] == 1.
&& pb.argumentScales ()[2] == 1.
&& pb.argumentScales ()[3] == 1.);
F* g = new F ();
pb.addConstraint (boost::shared_ptr<F> (g),
Function::makeInterval (0., 5.), 3.5);
BOOST_CHECK_EQUAL (pb.constraints ().size (), 1u);
BOOST_CHECK (&pb.constraints ()[0] != 0);
BOOST_CHECK_EQUAL (pb.boundsVector ().size (), 1u);
BOOST_CHECK_EQUAL (pb.boundsVector ()[0][0].first,
0.);
BOOST_CHECK_EQUAL (pb.boundsVector ()[0][0].second,
5.);
BOOST_CHECK_EQUAL (pb.scalesVector ().size (), 1u);
BOOST_CHECK_EQUAL (pb.scalesVector ()[0][0], 3.5);
// Try to solve it with the DummySolver (direct instantiation, no plug-in).
solver_t solver (pb);
solver_t::result_t res = solver.minimum ();
solver.getMinimum<SolverError> ();
(*output) << pb << std::endl
<< "---" << std::endl
<< solver << std::endl;
// Try to get the minimum from a GenericSolver*.
GenericSolver* gs = &solver;
(*output) << gs->getMinimum<SolverError> ().what ()
<< std::endl;
// Check iteration in discrete intervals.
{
int cnt = 0;
CountUnaryFunction count (cnt);
{
Function::discreteInterval_t interval (2.3, 3., 0.5);
Function::foreach (interval, count);
BOOST_CHECK_EQUAL (cnt, 2);
(*output) << std::endl;
}
{
cnt = 0;
Function::discreteInterval_t interval (2., 3., 0.1);
Function::foreach (interval, count);
BOOST_CHECK_EQUAL (cnt, 11);
(*output) << std::endl;
}
{
cnt = 0;
Function::discreteInterval_t interval (0.8, 10.8, 1.);
Function::foreach (interval, count);
BOOST_CHECK_EQUAL (cnt, 11);
(*output) << std::endl;
}
}
std::cout << output->str () << std::endl;
BOOST_CHECK (output->match_pattern ());
}
BOOST_AUTO_TEST_SUITE_END ()
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