def test_osqp_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 = OsqpSolver()
self.assertTrue(solver.available())
self.assertEqual(solver.solver_type(), mp.SolverType.kOsqp)
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_osqp_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 = OsqpSolver()
self.assertTrue(solver.available())
self.assertEqual(solver.solver_type(), mp.SolverType.kOsqp)
result = solver.Solve(prog, None, None)
self.assertTrue(result.is_success())
x_expected = np.array([1, 1])
self.assertTrue(np.allclose(result.GetSolution(x), x_expected))
self.assertEqual(result.get_solver_details().status_val, 1)
def test(self):
prog = mp.MathematicalProgram()
x = prog.NewContinuousVariables(2)
b = prog.NewBinaryVariables(2)
prog.AddLinearConstraint(x[0] + 2 * x[1] + b[0] == 2.)
prog.AddLinearConstraint(x[0] - 3.1 * b[1] >= 1)
prog.AddLinearConstraint(b[1] + 1.2 * x[1] - b[0] <= 5)
prog.AddQuadraticCost(x[0] * x[0])
dut = bnb.MixedIntegerBranchAndBound(prog, OsqpSolver().solver_id())
solution_result = dut.Solve()
self.assertEqual(solution_result, mp.SolutionResult.kSolutionFound)
self.assertAlmostEqual(dut.GetOptimalCost(), 1.)
self.assertAlmostEqual(dut.GetSubOptimalCost(0), 1.)
self.assertAlmostEqual(dut.GetSolution(x[0], 0), 1.)
self.assertAlmostEqual(dut.GetSolution(x[0], 1), 1.)
np.testing.assert_allclose(dut.GetSolution(x, 0), [1., 0.], atol=1e-12)
def unavailable(self):
"""Per the BUILD file, this test is only run when OSQP is disabled."""
solver = OsqpSolver()
self.assertFalse(solver.available())
def unavailable(self):
"""Per the BUILD file, this test is only run when OSQP is disabled."""
solver = OsqpSolver()
self.assertFalse(solver.available())