Nothing
context("test-solve-basic-qp.R")
library(Matrix)
define_simple_qp <- function(){
P <- Matrix(c(11., 0.,
0., 0.), 2, 2, sparse = TRUE)
q <- c(3., 4.)
A <- Matrix(c(-1., 0., -1., 2., 3.,
0., -1., -3., 5., 4.)
, 5, 2, sparse = TRUE)
u <- c(0., 0., -15., 100., 80)
l <- rep_len(-Inf, 5)
settings <- osqpSettings(verbose = FALSE,
eps_rel = 1e-05,
eps_abs = 1e-05)
# Create OSQP model
model <- osqp(P, q, A, l, u, settings)
return(model)
}
test_that("Solve basic QP", {
# Create OSQP model
model <- define_simple_qp()
# Solve
res <- model$Solve()
expect_equal(res$x, c(0., 5.), 1e-03)
expect_equal(res$y, c(1.66666, 0., 1.3333, 0., 0.), 1e-03)
expect_equal(res$info$obj_val, 20., 1e-03)
})
test_that("Update basic QP", {
# Create OSQP model
model <- define_simple_qp()
# Solve
res <- model$Solve()
# Define new vector
q_new <- c(10., 20.)
# Update model and solve again
model$Update(q = q_new)
res <- model$Solve()
expect_equal(res$x, c(0., 5.), 1e-03)
expect_equal(res$y, c(3.333, 0., 6.666, 0., 0.), 1e-03)
expect_equal(res$info$obj_val, 100., 1e-03)
})
test_that("Update bounds QP", {
# Create OSQP model
model <- define_simple_qp()
# Solve
res <- model$Solve()
# Define new vector
l_new <- -100 * rep(1, 5)
u_new <- 1000 * rep(1, 5)
# Update model and solve again
model$Update(l = l_new, u = u_new)
res_updated <- model$Solve()
expect_equal(res_updated$x, c(-0.12727273,
-19.94909091), 1e-03)
expect_equal(res_updated$y, c(0., 0., 0.,
-0.8, 0.), 1e-03)
expect_equal(res_updated$info$obj_val,
-80.0890909023583, 1e-03)
})
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