def test_solver_options(self):
prog = mp.MathematicalProgram()
prog.SetSolverOption(SolverType.kGurobi, "double_key", 1.0)
prog.SetSolverOption(GurobiSolver().solver_id(), "int_key", 2)
prog.SetSolverOption(SolverType.kGurobi, "string_key", "3")
options = prog.GetSolverOptions(SolverType.kGurobi)
self.assertDictEqual(options, {
"double_key": 1.0,
"int_key": 2,
"string_key": "3"
})
options = prog.GetSolverOptions(GurobiSolver().solver_id())
self.assertDictEqual(options, {
"double_key": 1.0,
"int_key": 2,
"string_key": "3"
})
# For now, just make sure the constructor exists. Once we bind more
# accessors, we can test them here.
options_object = SolverOptions()
solver_id = SolverId("dummy")
self.assertEqual(solver_id.name(), "dummy")
options_object.SetOption(solver_id, "double_key", 1.0)
options_object.SetOption(solver_id, "int_key", 2)
options_object.SetOption(solver_id, "string_key", "3")
options = options_object.GetOptions(solver_id)
self.assertDictEqual(options, {
"double_key": 1.0,
"int_key": 2,
"string_key": "3"
})
def test_graph_of_convex_sets(self):
spp = mut.GraphOfConvexSets()
source = spp.AddVertex(set=mut.Point([0.1]), name="source")
target = spp.AddVertex(set=mut.Point([0.2]), name="target")
edge0 = spp.AddEdge(u=source, v=target, name="edge0")
edge1 = spp.AddEdge(u_id=source.id(), v_id=target.id(), name="edge1")
self.assertEqual(len(spp.Vertices()), 2)
self.assertEqual(len(spp.Edges()), 2)
result = spp.SolveShortestPath(source_id=source.id(),
target_id=target.id(),
convex_relaxation=True)
self.assertIsInstance(result, MathematicalProgramResult)
self.assertIsInstance(
spp.SolveShortestPath(source_id=source.id(),
target_id=target.id(),
convex_relaxation=True,
solver=ClpSolver()),
MathematicalProgramResult)
self.assertIsInstance(
spp.SolveShortestPath(source_id=source.id(),
target_id=target.id(),
convex_relaxation=True,
solver_options=SolverOptions()),
MathematicalProgramResult)
self.assertIsInstance(
spp.SolveShortestPath(source=source,
target=target,
convex_relaxation=True),
MathematicalProgramResult)
self.assertIsInstance(
spp.SolveShortestPath(source=source,
target=target,
convex_relaxation=True,
solver=ClpSolver()),
MathematicalProgramResult)
self.assertIsInstance(
spp.SolveShortestPath(source=source,
target=target,
convex_relaxation=True,
solver_options=SolverOptions()),
MathematicalProgramResult)
self.assertIn(
"source",
spp.GetGraphvizString(result=result,
show_slacks=True,
precision=2,
scientific=False))
# Vertex
self.assertIsInstance(source.id(), mut.GraphOfConvexSets.VertexId)
self.assertEqual(source.ambient_dimension(), 1)
self.assertEqual(source.name(), "source")
self.assertIsInstance(source.x()[0], Variable)
self.assertIsInstance(source.set(), mut.Point)
np.testing.assert_array_almost_equal(source.GetSolution(result), [0.1],
1e-6)
# Edge
self.assertAlmostEqual(edge0.GetSolutionCost(result=result), 0.0, 1e-6)
np.testing.assert_array_almost_equal(
edge0.GetSolutionPhiXu(result=result), [0.1], 1e-6)
np.testing.assert_array_almost_equal(
edge0.GetSolutionPhiXv(result=result), [0.2], 1e-6)
self.assertIsInstance(edge0.id(), mut.GraphOfConvexSets.EdgeId)
self.assertEqual(edge0.name(), "edge0")
self.assertEqual(edge0.u(), source)
self.assertEqual(edge0.v(), target)
self.assertIsInstance(edge0.phi(), Variable)
self.assertIsInstance(edge0.xu()[0], Variable)
self.assertIsInstance(edge0.xv()[0], Variable)
var, binding = edge0.AddCost(e=1.0 + edge0.xu()[0])
self.assertIsInstance(var, Variable)
self.assertIsInstance(binding, Binding[Cost])
var, binding = edge0.AddCost(binding=binding)
self.assertIsInstance(var, Variable)
self.assertIsInstance(binding, Binding[Cost])
self.assertEqual(len(edge0.GetCosts()), 2)
binding = edge0.AddConstraint(f=(edge0.xu()[0] == edge0.xv()[0]))
self.assertIsInstance(binding, Binding[Constraint])
binding = edge0.AddConstraint(binding=binding)
self.assertIsInstance(binding, Binding[Constraint])
self.assertEqual(len(edge0.GetConstraints()), 2)
edge0.AddPhiConstraint(phi_value=False)
edge0.ClearPhiConstraints()
# Remove Edges
self.assertEqual(len(spp.Edges()), 2)
spp.RemoveEdge(edge1.id())
self.assertEqual(len(spp.Edges()), 1)
spp.RemoveEdge(edge0)
self.assertEqual(len(spp.Edges()), 0)
# Remove Vertices
self.assertEqual(len(spp.Vertices()), 2)
spp.RemoveVertex(source.id())
self.assertEqual(len(spp.Vertices()), 1)
spp.RemoveVertex(target)
self.assertEqual(len(spp.Vertices()), 0)
