From 7fbf097a27412b125423012f672472b4c8aea1bb Mon Sep 17 00:00:00 2001
From: andreadelprete <andre.delprete@gmail.com>
Date: Tue, 3 Nov 2015 14:09:32 +0100
Subject: [PATCH] Add new LP problems in test_data folder to use them in
 test_LP_problem. Change range of admissible pitch-roll angles for random
 contact generation from 0 to twice the friction cone angle. Clean code.

---
 include/robust-equilibrium-lib/util.hh        |   7 ++--
 src/solver_LP_qpoases.cpp                     |   5 ---
 src/static_equilibrium.cpp                    |   2 +-
 test/test_LP_solvers.cpp                      |  30 +++++++++++++-----
 test/test_static_equilibrium.cpp              |  19 ++++++-----
 ...LP_findExtremumOverLine20151103_014022.dat | Bin 0 -> 2272 bytes
 ...tremumOverLine20151103_014022_solution.dat | Bin 0 -> 64 bytes
 ...LP_findExtremumOverLine_128_generators.dat | Bin 0 -> 8416 bytes
 ...indExtremumOverLine_128_generators_bis.dat | Bin 0 -> 8416 bytes
 ...umOverLine_128_generators_bis_solution.dat | Bin 0 -> 64 bytes
 ...tremumOverLine_128_generators_solution.dat | Bin 0 -> 64 bytes
 ...DLP_findExtremumOverLine_32_generators.dat | Bin 0 -> 2272 bytes
 ...xtremumOverLine_32_generators_solution.dat | Bin 0 -> 64 bytes
 ...DLP_findExtremumOverLine_64_generators.dat | Bin 0 -> 4320 bytes
 ...xtremumOverLine_64_generators_solution.dat | Bin 0 -> 64 bytes
 ...LP_findExtremumOverLine20151103_014022.dat | Bin 0 -> 2488 bytes
 ...tremumOverLine20151103_014022_solution.dat | Bin 0 -> 280 bytes
 ...LP_findExtremumOverLine_128_generators.dat | Bin 0 -> 9400 bytes
 ...indExtremumOverLine_128_generators_bis.dat | Bin 0 -> 9400 bytes
 ...umOverLine_128_generators_bis_solution.dat | Bin 0 -> 1048 bytes
 ...tremumOverLine_128_generators_solution.dat | Bin 0 -> 1048 bytes
 .../LP_findExtremumOverLine_32_generators.dat | Bin 0 -> 2488 bytes
 ...xtremumOverLine_32_generators_solution.dat | Bin 0 -> 280 bytes
 .../LP_findExtremumOverLine_64_generators.dat | Bin 0 -> 4792 bytes
 ...xtremumOverLine_64_generators_solution.dat | Bin 0 -> 536 bytes
 25 files changed, 38 insertions(+), 25 deletions(-)
 create mode 100644 test_data/DLP_findExtremumOverLine20151103_014022.dat
 create mode 100644 test_data/DLP_findExtremumOverLine20151103_014022_solution.dat
 create mode 100644 test_data/DLP_findExtremumOverLine_128_generators.dat
 create mode 100644 test_data/DLP_findExtremumOverLine_128_generators_bis.dat
 create mode 100644 test_data/DLP_findExtremumOverLine_128_generators_bis_solution.dat
 create mode 100644 test_data/DLP_findExtremumOverLine_128_generators_solution.dat
 create mode 100644 test_data/DLP_findExtremumOverLine_32_generators.dat
 create mode 100644 test_data/DLP_findExtremumOverLine_32_generators_solution.dat
 create mode 100644 test_data/DLP_findExtremumOverLine_64_generators.dat
 create mode 100644 test_data/DLP_findExtremumOverLine_64_generators_solution.dat
 create mode 100644 test_data/LP_findExtremumOverLine20151103_014022.dat
 create mode 100644 test_data/LP_findExtremumOverLine20151103_014022_solution.dat
 create mode 100644 test_data/LP_findExtremumOverLine_128_generators.dat
 create mode 100644 test_data/LP_findExtremumOverLine_128_generators_bis.dat
 create mode 100644 test_data/LP_findExtremumOverLine_128_generators_bis_solution.dat
 create mode 100644 test_data/LP_findExtremumOverLine_128_generators_solution.dat
 create mode 100644 test_data/LP_findExtremumOverLine_32_generators.dat
 create mode 100644 test_data/LP_findExtremumOverLine_32_generators_solution.dat
 create mode 100644 test_data/LP_findExtremumOverLine_64_generators.dat
 create mode 100644 test_data/LP_findExtremumOverLine_64_generators_solution.dat

diff --git a/include/robust-equilibrium-lib/util.hh b/include/robust-equilibrium-lib/util.hh
index 759fff9..e698f4e 100644
--- a/include/robust-equilibrium-lib/util.hh
+++ b/include/robust-equilibrium-lib/util.hh
@@ -1,3 +1,7 @@
+/*
+ * Copyright 2015, LAAS-CNRS
+ * Author: Andrea Del Prete
+ */
 #ifndef _ROBUST_EQUILIBRIUM_LIB_UTIL_HH
 #define _ROBUST_EQUILIBRIUM_LIB_UTIL_HH
 
@@ -41,8 +45,6 @@ namespace robust_equilibrium
   typedef Eigen::Matrix <value_type, Eigen::Dynamic, 6, Eigen::RowMajor>              MatrixX6;
   typedef Eigen::Matrix <value_type, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> MatrixXX;
 
-  //define Eigen ref if available
-#if EIGEN_VERSION_AT_LEAST(3,2,2)
   typedef Eigen::Ref<Vector2>     Ref_vector2;
   typedef Eigen::Ref<Vector3>     Ref_vector3;
   typedef Eigen::Ref<VectorX>     Ref_vectorX;
@@ -60,7 +62,6 @@ namespace robust_equilibrium
   typedef const Eigen::Ref<const Matrix43>    & Cref_matrix43;
   typedef const Eigen::Ref<const Matrix6X>    & Cref_matrix6X;
   typedef const Eigen::Ref<const MatrixXX>    & Cref_matrixXX;
-#endif
 
   /**
    * Write the specified matrix to a binary file with the specified name.
diff --git a/src/solver_LP_qpoases.cpp b/src/solver_LP_qpoases.cpp
index 0d45acc..2b9f5df 100644
--- a/src/solver_LP_qpoases.cpp
+++ b/src/solver_LP_qpoases.cpp
@@ -46,9 +46,6 @@ namespace robust_equilibrium
       m_H = MatrixXX::Zero(n,n);
     }
 
-//    m_status = m_solver.init(NULL, c.data(), A.data(), lb.data(), ub.data(),
-//                             Alb.data(), Aub.data(), iters, &solutionTime);
-
     if(!m_init_succeeded)
     {
       m_status = m_solver.init(NULL, c.data(), A.data(), lb.data(), ub.data(),
@@ -69,8 +66,6 @@ namespace robust_equilibrium
     {
       m_solver.getPrimalSolution(sol.data());
     }
-    else
-      SEND_DEBUG_MSG("QPoases solver failed with code "+toString(m_status));
 
     return getStatus();
   }
diff --git a/src/static_equilibrium.cpp b/src/static_equilibrium.cpp
index e856093..2265edb 100644
--- a/src/static_equilibrium.cpp
+++ b/src/static_equilibrium.cpp
@@ -305,7 +305,7 @@ bool StaticEquilibrium::findExtremumOverLine(Cref_vector2 a, Cref_vector2 a0, do
     {
       com = a0 + a*b_p(m);
 
-#define WRITE_LPS_TO_FILE
+//#define WRITE_LPS_TO_FILE
 #ifdef WRITE_LPS_TO_FILE
       string date_time = getDateAndTimeAsString();
       string filename = "LP_findExtremumOverLine"+date_time+".dat";
diff --git a/test/test_LP_solvers.cpp b/test/test_LP_solvers.cpp
index 27faf5d..72e35c8 100644
--- a/test/test_LP_solvers.cpp
+++ b/test/test_LP_solvers.cpp
@@ -373,10 +373,10 @@ void test_small_LP()
 
 int main()
 {
-  cout <<"Test LP Solvers\n\n";
+  cout <<"Test LP Solvers (1 means ok, 0 means error)\n\n";
 
   {
-    cout<<"TEST QP OASES ON A SMALL 2-VARIABLE LP\n";
+    cout<<"TEST QP OASES ON A SMALL 2-VARIABLE LP";
     /* Setup data of first LP. */
     real_t A[1*2] = { 1.0, 1.0 };
     real_t g[2] = { 1.5, 1.0 };
@@ -394,7 +394,11 @@ int main()
 
     /* Solve first LP. */
     int nWSR = 10;
-    example.init( 0,g,A,lb,ub,lbA,ubA, nWSR,0 );
+    int res = example.init( 0,g,A,lb,ub,lbA,ubA, nWSR,0 );
+    if(res==0)
+      cout<<"[INFO] LP solved correctly\n";
+    else
+      cout<<"[ERROR] QpOases could not solve the LP problem, error code: "<<res<<endl;
   }
 
   {
@@ -436,11 +440,21 @@ int main()
     cout<<"\nTEST QP OASES ON SOME LP PROBLEMS\n";
     string file_path = "../test_data/";
     Solver_LP_abstract *solverOases = Solver_LP_abstract::getNewSolver(SOLVER_LP_QPOASES);
-    const int PROBLEM_NUMBER = 4;
+    const int PROBLEM_NUMBER = 14;
     string problem_filenames[PROBLEM_NUMBER] = {"DLP_findExtremumOverLine20151103_112611",
                                                 "DLP_findExtremumOverLine20151103_115627",
+                                                "DLP_findExtremumOverLine20151103_014022",
+                                                "DLP_findExtremumOverLine_32_generators",
+                                                "DLP_findExtremumOverLine_64_generators",
+                                                "DLP_findExtremumOverLine_128_generators",
+                                                "DLP_findExtremumOverLine_128_generators_bis",
                                                 "LP_findExtremumOverLine20151103_112610",
-                                                "LP_findExtremumOverLine20151103_112611"};
+                                                "LP_findExtremumOverLine20151103_112611",
+                                                "LP_findExtremumOverLine20151103_014022",
+                                                "LP_findExtremumOverLine_32_generators",
+                                                "LP_findExtremumOverLine_64_generators",
+                                                "LP_findExtremumOverLine_128_generators",
+                                                "LP_findExtremumOverLine_128_generators_bis"};
     VectorX c, lb, ub, Alb, Aub, realSol, sol;
     MatrixXX A;
     for(int i=0; i<PROBLEM_NUMBER; i++)
@@ -461,15 +475,15 @@ int main()
       solverOases->solve(c, lb, ub, A, Alb, Aub, sol);
       if(sol.isApprox(realSol, EPS))
       {
-        cout<<"[INFO] Solution of problem "<<problem_filename<<" is equal to the expected value!\n";
+        cout<<"[INFO] Solution of problem "<<problem_filename<<" ("<<c.size()<<" var, "<<A.rows()<<" constr) is equal to the expected value!\n";
       }
       else
       {
         if(fabs(c.dot(sol)-c.dot(realSol))<EPS)
-          cout<<"[WARNING] Solution of problem "<<problem_filename<<" is different from expected but it has the same cost\n";
+          cout<<"[WARNING] Solution of problem "<<problem_filename<<" ("<<c.size()<<" var, "<<A.rows()<<" constr) is different from expected but it has the same cost\n";
         else
         {
-          cout<<"[ERROR] Solution of problem "<<problem_filename<<" is different from the expected value:\n";
+          cout<<"[ERROR] Solution of problem "<<problem_filename<<" ("<<c.size()<<" var, "<<A.rows()<<" constr) is different from the expected value:\n";
           cout<<"\tSolution found    "<<sol.transpose()<<endl;
           cout<<"\tExpected solution "<<realSol.transpose()<<endl;
           cout<<"\tCost found    "<<(c.dot(sol))<<endl;
diff --git a/test/test_static_equilibrium.cpp b/test/test_static_equilibrium.cpp
index 17b9368..4cbe5af 100644
--- a/test/test_static_equilibrium.cpp
+++ b/test/test_static_equilibrium.cpp
@@ -169,7 +169,10 @@ int test_findExtremumOverLine(StaticEquilibrium &solver_to_test, StaticEquilibri
   for(unsigned int i=0; i<N_TESTS; i++)
   {
     uniform(-1.0*Vector2::Ones(), Vector2::Ones(), a);
-    desired_robustness = (rand()/ value_type(RAND_MAX))*e_max;
+    if(e_max>=0.0)
+      desired_robustness = (rand()/ value_type(RAND_MAX))*e_max;
+    else
+      desired_robustness = e_max - EPS;
 
     getProfiler().start(PERF_STRING_TEST);
     status  = solver_to_test.findExtremumOverLine(a, a0, desired_robustness, com);
@@ -250,9 +253,9 @@ void drawRobustnessGrid(StaticEquilibrium &solver, Cref_matrixXX comPositions)
 int main()
 {
   unsigned int seed = (unsigned int)(time(NULL));
-//  seed = 1446456544;
+//  seed = 1446555515;
   srand (seed);
-  cout<<"Initialize random number generator with seed "<<seed<<endl;
+  cout<<"Initialize random number generator with seed "<<seed<<" (in case you wanna repeat the same test later)\n";
 
   RVector3 CONTACT_POINT_LOWER_BOUNDS, CONTACT_POINT_UPPER_BOUNDS;
   RVector3 RPY_LOWER_BOUNDS, RPY_UPPER_BOUNDS;
@@ -260,19 +263,19 @@ int main()
   /************************************** USER PARAMETERS *******************************/
   double mass = 70.0;
   double mu = 0.3;  // friction coefficient
-  unsigned int generatorsPerContact = 4;
-  unsigned int N_CONTACTS = 1;
+  unsigned int generatorsPerContact = 8;
+  unsigned int N_CONTACTS = 3;
   double MIN_FEET_DISTANCE = 0.3;
   double LX = 0.5*0.2172;        // half contact surface size in x direction
   double LY = 0.5*0.138;         // half contact surface size in y direction
   CONTACT_POINT_LOWER_BOUNDS << 0.0,  0.0,  0.0;
   CONTACT_POINT_UPPER_BOUNDS << 0.5,  0.5,  0.5;
   double gamma = atan(mu);   // half friction cone angle
-  RPY_LOWER_BOUNDS << -0*gamma, -0*gamma, -M_PI;
-  RPY_UPPER_BOUNDS << +0*gamma, +0*gamma, +M_PI;
+  RPY_LOWER_BOUNDS << -2*gamma, -2*gamma, -M_PI;
+  RPY_UPPER_BOUNDS << +2*gamma, +2*gamma, +M_PI;
   double X_MARG = 0.07;
   double Y_MARG = 0.07;
-  const int GRID_SIZE = 5;
+  const int GRID_SIZE = 10;
   /************************************ END USER PARAMETERS *****************************/
 
   cout<<"Number of contacts: "<<N_CONTACTS<<endl;
diff --git a/test_data/DLP_findExtremumOverLine20151103_014022.dat b/test_data/DLP_findExtremumOverLine20151103_014022.dat
new file mode 100644
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diff --git a/test_data/DLP_findExtremumOverLine20151103_014022_solution.dat b/test_data/DLP_findExtremumOverLine20151103_014022_solution.dat
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diff --git a/test_data/DLP_findExtremumOverLine_128_generators_bis_solution.dat b/test_data/DLP_findExtremumOverLine_128_generators_bis_solution.dat
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diff --git a/test_data/DLP_findExtremumOverLine_64_generators_solution.dat b/test_data/DLP_findExtremumOverLine_64_generators_solution.dat
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diff --git a/test_data/LP_findExtremumOverLine_128_generators_bis.dat b/test_data/LP_findExtremumOverLine_128_generators_bis.dat
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diff --git a/test_data/LP_findExtremumOverLine_128_generators_bis_solution.dat b/test_data/LP_findExtremumOverLine_128_generators_bis_solution.dat
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diff --git a/test_data/LP_findExtremumOverLine_64_generators_solution.dat b/test_data/LP_findExtremumOverLine_64_generators_solution.dat
new file mode 100644
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GIT binary patch
literal 536
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literal 0
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-- 
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