def test_ipopt_solver(self):
prog, x, x_expected = self._make_prog()
solver = IpoptSolver()
self.assertTrue(solver.available())
self.assertEqual(solver.solver_id().name(), "IPOPT")
self.assertEqual(solver.SolverName(), "IPOPT")
self.assertEqual(solver.solver_type(), mp.SolverType.kIpopt)
result = solver.Solve(prog, None, None)
self.assertTrue(result.is_success())
self.assertTrue(np.allclose(result.GetSolution(x), x_expected))
def test_ipopt_solver(self):
prog = mp.MathematicalProgram()
x = prog.NewContinuousVariables(2, "x")
prog.AddLinearConstraint(x[0] >= 1)
prog.AddLinearConstraint(x[1] >= 1)
prog.AddQuadraticCost(np.eye(2), np.zeros(2), x)
solver = IpoptSolver()
self.assertTrue(solver.available())
self.assertEqual(solver.SolverName(), "IPOPT")
self.assertEqual(solver.solver_type(), mp.SolverType.kIpopt)
result = solver.Solve(prog)
self.assertEqual(result, mp.SolutionResult.kSolutionFound)
x_expected = np.array([1, 1])
self.assertTrue(np.allclose(prog.GetSolution(x), x_expected))
def test_ipopt_solver(self):
prog = mp.MathematicalProgram()
x = prog.NewContinuousVariables(2, "x")
prog.AddLinearConstraint(x[0] >= 1)
prog.AddLinearConstraint(x[1] >= 1)
prog.AddQuadraticCost(np.eye(2), np.zeros(2), x)
solver = IpoptSolver()
self.assertTrue(solver.available())
self.assertEqual(solver.solver_id().name(), "IPOPT")
self.assertEqual(solver.SolverName(), "IPOPT")
self.assertEqual(solver.solver_type(), mp.SolverType.kIpopt)
result = solver.Solve(prog)
self.assertEqual(result, mp.SolutionResult.kSolutionFound)
x_expected = np.array([1, 1])
self.assertTrue(np.allclose(prog.GetSolution(x), x_expected))
def test_ipopt_solver(self):
prog, x, x_expected = self._make_prog()
solver = IpoptSolver()
self.assertTrue(solver.available())
self.assertEqual(solver.solver_id().name(), "IPOPT")
self.assertEqual(solver.SolverName(), "IPOPT")
self.assertEqual(solver.solver_type(), mp.SolverType.kIpopt)
result = solver.Solve(prog, None, None)
self.assertTrue(result.is_success())
self.assertTrue(np.allclose(result.GetSolution(x), x_expected))
self.assertEqual(result.get_solver_details().status, 0)
self.assertEqual(result.get_solver_details().ConvertStatusToString(),
"Success")
np.testing.assert_allclose(result.get_solver_details().z_L,
np.array([1., 1.]))
np.testing.assert_allclose(result.get_solver_details().z_U,
np.array([0., 0.]))
np.testing.assert_allclose(result.get_solver_details().g, np.array([]))
np.testing.assert_allclose(result.get_solver_details().lambda_val,
np.array([]))