def test_vertcat_list(self):
'''Test Inequality vertical concatenation as a list
'''
b1 = np.random.rand(3, 2)
n1 = np.random.rand(3)
i1 = ce.Inequality(cs.MX.sym('x', 3), lb=np.min(b1, axis=1), ub=np.max(b1, axis=1), nominal=n1)
b2 = np.random.rand(4, 2)
n2 = np.random.rand(4)
i2 = ce.Inequality(cs.MX.sym('y', 4), lb=np.min(b2, axis=1), ub=np.max(b2, axis=1), nominal=n2)
i3 = ce.inequality.vertcat([i1, i2])
self.assertEqual(i3.numel(), 7)
nptest.assert_equal(np.array(i3.lb), np.array(cs.vertcat(i1.lb, i2.lb)))
nptest.assert_equal(np.array(i3.ub), np.array(cs.vertcat(i1.ub, i2.ub)))
nptest.assert_equal(np.array(i3.nominal), np.array(cs.vertcat(i1.nominal, i2.nominal)))
def test_ctor(self):
'''Test Inequality ctor
'''
i = ce.Inequality(expr=cs.MX.sym('x', 2), lb=np.array([-1, -2]), ub=np.array([3, 4]))
nptest.assert_equal(i.lb, np.array(cs.DM([-1, -2])))
nptest.assert_equal(i.ub, np.array(cs.DM([3, 4])))
def test_empty(self):
'''Test empty Inequality
'''
i = ce.Inequality()
self.assertEqual(i.numel(), 0)
def test_numel(self):
'''Test Inequality numel() function
'''
i = ce.Inequality(cs.MX.sym('x', 3))
self.assertEqual(i.numel(), 3)
def test_ctorDefaultUpperBound(self):
'''Test Inequality ctor with default upper bound
'''
i = ce.Inequality(cs.MX.sym('x', 3), lb=cs.DM([1, 2, 3]))
nptest.assert_equal(i.lb, np.array(cs.DM([1, 2, 3])))
nptest.assert_equal(i.ub, np.array(cs.DM.inf(3)))
def test_ctorDefaultBounds(self):
'''Test Inequality ctor with default bounds
'''
i = ce.Inequality(cs.MX.sym('x', 3))
nptest.assert_equal(i.lb, np.array(-cs.DM.inf(3)))
nptest.assert_equal(i.ub, np.array(cs.DM.inf(3)))
