def test_include_inequality(self):
aop = AbstractOptimizationProblem()
x = aop.create_variable('x', 2)
g = x[0] - x[1]
aop.include_inequality(g)
self.assertTrue(is_equal(aop.g, g))
self.assertTrue(is_equal(aop.g_lb, -inf))
self.assertTrue(is_equal(aop.g_ub, inf))
def test_include_inequality_scalar_bound(self):
lb = 1
ub = 4
aop = AbstractOptimizationProblem()
x = aop.create_variable('x', 2)
g = 2 * x
aop.include_inequality(g, lb=lb, ub=ub)
self.assertTrue(is_equal(aop.g_lb, repmat(lb, 2)))
self.assertTrue(is_equal(aop.g_ub, repmat(ub, 2)))
def test_include_inequality_w_external_variable_in_expr(self):
theta = MX.sym('theta')
aop = AbstractOptimizationProblem()
x = aop.create_variable('x', 2)
g = theta * x[0] - x[1]
aop.include_inequality(g)
self.assertTrue(is_equal(aop.g, g))
self.assertTrue(is_equal(aop.g_lb, -inf))
self.assertTrue(is_equal(aop.g_ub, inf))
def test_include_inequality_with_bounds(self):
lb = 2
ub = 3
aop = AbstractOptimizationProblem()
x = aop.create_variable('x', 2)
g = x[0] - x[1]
aop.include_inequality(g, lb=lb, ub=ub)
self.assertTrue(is_equal(aop.g, g))
self.assertTrue(is_equal(aop.g_lb, lb))
self.assertTrue(is_equal(aop.g_ub, ub))
def test_include_inequality_w_external_variable_in_bound(self):
theta = MX.sym('theta')
lb = -theta
ub = theta
aop = AbstractOptimizationProblem()
x = aop.create_variable('x', 2)
g = x[0] - x[1]
aop.include_inequality(g, lb=lb, ub=ub)
self.assertTrue(is_equal(aop.g, g))
self.assertTrue(is_equal(aop.g_lb, lb))
self.assertTrue(is_equal(aop.g_ub, ub))
def test_get_problem_dict(self):
aop = AbstractOptimizationProblem()
x = aop.create_variable('x', 3)
p = aop.create_parameter('p', 3)
f = sum([x[i]**2 for i in range(x.numel())])
g = x[0] - x[1] + 2 * x[2]
aop.set_objective(f)
aop.include_inequality(g, lb=-10, ub=20)
d_res = {'x': x, 'p': p, 'f': f, 'g': g}
d = aop.get_problem_dict()
for key in set(d_res.keys()).union(set(d.keys())):
self.assertTrue(is_equal(d_res[key], d[key]))
def test_get_default_call_dict(self):
aop = AbstractOptimizationProblem()
lbx = -DM([2, 3, 10])
ubx = DM([2, 3, 10])
x = aop.create_variable('x', 3, lb=lbx, ub=ubx)
p = aop.create_parameter('p', 3)
f = sum([x[i]**2 for i in range(x.numel())])
g = x[0] - x[1] + 2 * x[2]
aop.set_objective(f)
aop.include_inequality(g, lb=-10, ub=20)
expected = {'lbx': lbx, 'ubx': ubx, 'lbg': DM(-10), 'ubg': DM(20)}
d = aop.get_default_call_dict()
for key in set(expected.keys()).union(set(d.keys())):
self.assertTrue(is_equal(expected[key], d[key]))