test_qpOASES_solver_mat_filling.py 文件源码

def test_matrices_l_h_after_func_fill(self, qpOASES_mat_fixtures):
        """ Verify qpOASES matrices after filling.
        """
        pcs, pp = qpOASES_mat_fixtures

        random_fill([pp.l, pp.h])
        pp._fill_matrices()
        for i in range(pp.N+1):
            assert pp.l[i, 0] == -INFTY
            assert pp.l[i, 1] == 0
            assert pp.h[i, 0] == INFTY
            assert pp.h[i, 1] == INFTY

            l_expected = np.hstack(map(lambda pc: pc.l[i], pcs))
            h_expected = np.hstack(map(lambda pc: pc.h[i], pcs))
            assert np.allclose(pp.l[i, 2:], l_expected)
            assert np.allclose(pp.h[i, 2:], h_expected)