test_qpOASES_solver_funcs.py 文件源码

def test_comp_controllable(self, pp_fixture):
        """
        """
        pcs, solver = pp_fixture
        I0 = np.r_[0.1, 0.2]
        IN = np.r_[0.1, 0.2]
        solver.set_start_interval(I0)
        solver.set_goal_interval(IN)
        # Basic checks
        res_ctrl = solver.solve_controllable_sets()
        assert res_ctrl is True
        ctrl_sets = solver.K
        for i in range(solver.N+1):
            assert ctrl_sets[i, 1] >= ctrl_sets[i, 0]
            assert ctrl_sets[i, 0] >= 0
        assert ctrl_sets[solver.N, 0] >= IN[0] - TINY
        assert ctrl_sets[solver.N, 1] <= IN[1] + TINY