void testConvexRelaxations()
{
DenseMatrix A(1,3);
A << 1, 2, 3;
DenseVector b(1);
b(0) = 1;
std::vector<VariablePtr> vars =
{
std::make_shared<Variable>(1,0,6),
std::make_shared<Variable>(2,0,4),
std::make_shared<Variable>(3,0,2)
};
ConstraintPtr lincon1 = std::make_shared<ConstraintLinear>(vars, A, b, true);
A << 3, 2, 1;
ConstraintPtr lincon2 = std::make_shared<ConstraintLinear>(vars, A, b, true);
SPLINTER::DataTable data;
data.addSample(0,0);
data.addSample(0.5,0.5);
data.addSample(1,1);
SPLINTER::BSpline bs(data, SPLINTER::BSplineType::LINEAR);
auto bsvars = {vars.at(0), vars.at(1)};
ConstraintPtr bscon = std::make_shared<ConstraintBSpline>(bsvars, bs, true);
ConstraintSetPtr cs = std::make_shared<ConstraintSet>();
cs->add(lincon1);
cs->add(lincon2);
cs->add(bscon);
cout << cs->getVariables() << endl;
cout << "Relaxed" << endl;
ConstraintPtr csr = cs->getConvexRelaxation();
cout << csr->getVariables() << endl;
}
void testNewConstraintClasses()
{
// Create some vars
std::vector<VariablePtr> vars;
for (int i = 0; i < 3; i++)
{
auto var = std::make_shared<Variable>(1, 0, i+1);
vars.push_back(var);
cout << *var << endl;
}
ConstraintSetPtr cs = std::make_shared<ConstraintSet>();
DenseMatrix A = DenseMatrix::Zero(3,3);
DenseVector b = DenseVector::Zero(3);
b(0) = 0.5;
A(0,0) = 1;
ConstraintPtr lincon = std::make_shared<ConstraintLinear>(vars, A, b, true);
A(1,1) = 2;
ConstraintPtr lincon2 = std::make_shared<ConstraintLinear>(vars, A, b, true);
A(2,2) = 3;
ConstraintPtr lincon3 = std::make_shared<ConstraintLinear>(vars, A, b, true);
cs->add(lincon);
//cs->add(lincon2); // TODO: continue here tomorrow!
//cs->add(lincon3);
ConstraintSetPtr cs2 = std::make_shared<ConstraintSet>(*cs); // Shallow copy
ConstraintSetPtr cs4 = std::make_shared<ConstraintSet>();
cs4->add(cs); // Shallow copy
ConstraintSetPtr cs5 = std::make_shared<ConstraintSet>(*cs, true); // Deep copy
DenseVector x = DenseVector::Zero(3);
x(0) = 1;
x(1) = 1;
x(2) = 1;
DenseVector y;
DenseVector dy;
DenseVector ddy;
{
cout << "Evaluating cs" << endl;
y = cs->eval(x);
dy = cs->evalJacobian(x);
ddy = cs->evalHessian(x);
cout << "y:" << endl;
cout << y << endl;
cout << "dy" << endl;
cout << dy << endl;
cout << "ddy" << endl;
cout << ddy << endl;
}
ConstraintPtr cs3 = cs->clone(); // Deep copy
{
cout << "Evaluating cs without x" << endl;
std::vector<VariablePtr> vars = cs->getVariables();
vars.at(0)->setValue(2);
y = cs->eval();
dy = cs->evalJacobian();
ddy = cs->evalHessian();
cout << "y:" << endl;
cout << y << endl;
cout << "dy" << endl;
cout << dy << endl;
cout << "ddy" << endl;
cout << ddy << endl;
}
{
cout << "Evaluating cs2 (shallow copy)." << endl;
y = cs2->eval();
dy = cs2->evalJacobian();
ddy = cs2->evalHessian();
cout << "y:" << endl;
cout << y << endl;
cout << "dy" << endl;
cout << dy << endl;
cout << "ddy" << endl;
cout << ddy << endl;
}
{
cout << "Evaluating cs3 (deep copy)." << endl;
y = cs3->eval();
dy = cs3->evalJacobian();
ddy = cs3->evalHessian();
cout << "y:" << endl;
cout << y << endl;
cout << "dy" << endl;
cout << dy << endl;
cout << "ddy" << endl;
cout << ddy << endl;
}
{
cout << "Evaluating cs4 (shallow composite)." << endl;
y = cs4->eval();
dy = cs4->evalJacobian();
ddy = cs4->evalHessian();
cout << "y:" << endl;
cout << y << endl;
cout << "dy" << endl;
cout << dy << endl;
cout << "ddy" << endl;
cout << ddy << endl;
}
{
cout << "Evaluating cs5 (deep copy)." << endl;
y = cs5->eval();
dy = cs5->evalJacobian();
ddy = cs5->evalHessian();
cout << "y:" << endl;
cout << y << endl;
cout << "dy" << endl;
cout << dy << endl;
cout << "ddy" << endl;
cout << ddy << endl;
}
}
