tracks LP status. Test that lp fails when expected

src/glpk-wrapper.cpp

@@ -107,7 +107,8 @@
       glp_load_matrix(lp,idConsMat-1,ia,ja,ar);
 
       int res = glp_simplex(lp, &opts);
-      if(res == 0)
+      res = glp_get_status(lp);
+      if(res == GLP_OPT)
       {
           cost = glp_get_obj_val(lp);                    //obtains a computed value of the objective function
           idrow = 1;

src/solver-abstract.cpp

@@ -19,6 +19,7 @@
 #include "solver/solver-abstract.hpp"
 #ifdef USE_GLPK_SOLVER
 #include <solver/glpk-wrapper.hpp>
+#include <glpk.h>
 #endif
 #include <solver/eiquadprog-fast.hpp>
 
@@ -135,7 +136,7 @@ ResultData solve( const MatrixXd & A,
 #ifdef USE_GLPK_SOLVER
         case SOLVER_GLPK:
     {
-        res.success_ = (solvers::solveglpk(g,D,d,A,b,minBounds, maxBounds,res.x,res.cost_) == 0);
+        res.success_ = (solvers::solveglpk(g,D,d,A,b,minBounds, maxBounds,res.x,res.cost_) == GLP_OPT);
         return res;
     }
 #endif

tests/test-transition.cc

@@ -150,6 +150,18 @@ void check_transition(bezier_com_traj::ProblemData& pData, VectorX Ts,bool shoul
 
     if(shouldFail){
         BOOST_CHECK(!res.success_);
+        if(test_continuous)
+        {
+            res = bezier_com_traj::computeCOMTraj(pData,Ts,-1,solvers::SOLVER_QUADPROG);
+            BOOST_CHECK(!res.success_);
+            pData.representation_ ==  bezier_com_traj::FORCE;
+            res = bezier_com_traj::computeCOMTraj(pData,Ts,-1,solvers::SOLVER_QUADPROG);
+            BOOST_CHECK(!res.success_);
+#ifdef USE_GLPK_SOLVER
+            res = bezier_com_traj::computeCOMTraj(pData,Ts,-1,solvers::SOLVER_GLPK);
+            BOOST_CHECK(!res.success_);
+#endif
+        }
         return;
     }