fixed bug in test_bench, added test for HS268, which seems to lead to…

… different solutions on different platforms

.gitattributes

@@ -153,6 +153,7 @@ testing/cpp/test_example7.cpp -text
 testing/cpp/test_exampleLP.cpp -text
 testing/cpp/test_gradientShift.cpp -text
 testing/cpp/test_guessedWS1.cpp -text
+testing/cpp/test_hs268.cpp -text
 testing/cpp/test_indexlist.cpp -text
 testing/cpp/test_janick1.cpp -text
 testing/cpp/test_janick2.cpp -text

testing/Makefile

@@ -58,6 +58,7 @@ QPOASES_TEST_EXES = \
 	${BINDIR}/test_example7${EXE} \
 	${BINDIR}/test_exampleLP${EXE} \
 	${BINDIR}/test_qrecipe${EXE} \
+	${BINDIR}/test_hs268${EXE} \
 	${BINDIR}/test_gradientShift${EXE} \
 	${BINDIR}/test_runAllOqpExamples${EXE} \
 	${BINDIR}/test_sebastien1${EXE} \
@@ -139,6 +140,10 @@ ${BINDIR}/test_qrecipe${EXE}: ./cpp/test_qrecipe.${OBJEXT} ./cpp/test_qrecipe_da
 	@${ECHO} "Creating" $@
 	@${CPP} ${DEF_TARGET} ${CPPFLAGS} $< ${QPOASES_LINK} ${LINK_LIBRARIES}
 
+${BINDIR}/test_hs268${EXE}: ./cpp/test_hs268.${OBJEXT}
+	@${ECHO} "Creating" $@
+	@${CPP} ${DEF_TARGET} ${CPPFLAGS} $< ${QPOASES_LINK} ${LINK_LIBRARIES}
+
 ${BINDIR}/test_gradientShift${EXE}: ./cpp/test_gradientShift.${OBJEXT} ${LINK_DEPENDS}
 	@${ECHO} "Creating" $@
 	@${CPP} ${DEF_TARGET} ${CPPFLAGS} $< ${QPOASES_LINK} ${LINK_LIBRARIES}

testing/cpp/test_bench.cpp

@@ -95,9 +95,9 @@ int main( int argc, char *argv[] )
 	returnValue returnvalue;
 
 	int expectedNumSolvedProblems = 44;
-	real_t expectedAvgStationarity = TOL;
-	real_t expectedAvgavgFeasibility = TOL;
-	real_t expectedAvgFeasibility = TOL;
+	real_t expectedAvgStationarity    = TOL;
+	real_t expectedAvgFeasibility     = TOL;
+	real_t expectedAvgComplementarity = TOL;
 
 
 	if ( argv[argc-1][0] == 'O' )
@@ -116,17 +116,17 @@ int main( int argc, char *argv[] )
 				options.setToDefault();
 				if ( argv[argc-1][2] == 's' )
 				{
-					expectedNumSolvedProblems = 44;
-					expectedAvgStationarity   = 1e-7;
-					expectedAvgavgFeasibility = 1e-10;
-					expectedAvgFeasibility    = 5e-7;
+					expectedNumSolvedProblems  = 44;
+					expectedAvgStationarity    = 2e-10;
+					expectedAvgFeasibility     = 2e-10;
+					expectedAvgComplementarity = 5e-7;
 				}
 				else
 				{
-					expectedNumSolvedProblems = 44;
-					expectedAvgStationarity   = 1e-7;
-					expectedAvgavgFeasibility = 5e-10;
-					expectedAvgFeasibility    = 5e-8;
+					expectedNumSolvedProblems  = 44;
+					expectedAvgStationarity    = 5e-10;
+					expectedAvgFeasibility     = 5e-10;
+					expectedAvgComplementarity = 5e-8;
 				}
 				break;
 
@@ -135,17 +135,17 @@ int main( int argc, char *argv[] )
 				options.setToReliable();
 				if ( argv[argc-1][2] == 's' )
 				{
-					expectedNumSolvedProblems = 44;
-					expectedAvgStationarity   = 1e-9;
-					expectedAvgavgFeasibility = 2e-11;
-					expectedAvgFeasibility    = 2e-9;
+					expectedNumSolvedProblems  = 44;
+					expectedAvgStationarity    = 2e-9;
+					expectedAvgFeasibility     = 2e-11;
+					expectedAvgComplementarity = 3e-9;
 				}
 				else
 				{
-					expectedNumSolvedProblems = 44;
-					expectedAvgStationarity   = 2e-9;
-					expectedAvgavgFeasibility = 1e-9;
-					expectedAvgFeasibility    = 2e-7;
+					expectedNumSolvedProblems  = 44;
+					expectedAvgStationarity    = 2e-9;
+					expectedAvgFeasibility     = 2e-9;
+					expectedAvgComplementarity = 3e-7;
 				}
 				break;
 
@@ -154,17 +154,17 @@ int main( int argc, char *argv[] )
 				options.setToMPC();
 				if ( argv[argc-1][2] == 's' )
 				{
-					expectedNumSolvedProblems = 42;
-					expectedAvgStationarity   = 2e-8;
-					expectedAvgavgFeasibility = 1e-8;
-					expectedAvgFeasibility    = 1e-7;
+					expectedNumSolvedProblems  = 42;
+					expectedAvgStationarity    = 2e-8;
+					expectedAvgFeasibility     = 1e-8;
+					expectedAvgComplementarity = 2e-7;
 				}
 				else
 				{
-					expectedNumSolvedProblems = 42;
-					expectedAvgStationarity   = 2e-8;
-					expectedAvgavgFeasibility = 1e-8;
-					expectedAvgFeasibility    = 5e-8;
+					expectedNumSolvedProblems  = 42;
+					expectedAvgStationarity    = 3e-8;
+					expectedAvgFeasibility     = 1e-8;
+					expectedAvgComplementarity = 5e-8;
 				}
 				break;
 
@@ -280,24 +280,24 @@ int main( int argc, char *argv[] )
 
 
 	/* 4) Print results. */
-	printf("\n\n" );
-	printf("Testbench results:\n" );
-	printf("======================\n\n" );
-	printf("Pass:  %3d\n", npass);
-	printf("Fail:  %3d\n", nfail);
-	printf("Ratio: %5.1f%%\n", 100.0 * (real_t)npass / (real_t)(npass+nfail));
-	printf("\n" );
+	printf( "\n\n" );
+	printf( "Testbench results:\n" );
+	printf( "======================\n\n" );
+	printf( "Pass:  %3d\n",npass );
+	printf( "Fail:  %3d\n",nfail );
+	printf( "Ratio: %5.1f%%\n", 100.0 * (real_t)npass / (real_t)(npass+nfail) );
+	printf( "\n" );
 
 	QPOASES_TEST_FOR_TRUE( npass >= expectedNumSolvedProblems );
 
 
-	printf("avg. stat:  %e\n", avgStationarity);
-	printf("avg. feas:  %e\n", avgFeasibility);
-	printf("avg. cmpl:  %e\n", avgFeasibility);
+	printf( "avg. stat:  %e\n", avgStationarity    );
+	printf( "avg. feas:  %e\n", avgFeasibility     );
+	printf( "avg. cmpl:  %e\n", avgComplementarity );
 
-	QPOASES_TEST_FOR_TOL( avgStationarity,    expectedAvgStationarity );
-	QPOASES_TEST_FOR_TOL( avgFeasibility,     expectedAvgavgFeasibility );
-	QPOASES_TEST_FOR_TOL( avgComplementarity, expectedAvgFeasibility );
+	QPOASES_TEST_FOR_TOL( avgStationarity,    expectedAvgStationarity    );
+	QPOASES_TEST_FOR_TOL( avgFeasibility,     expectedAvgFeasibility     );
+	QPOASES_TEST_FOR_TOL( avgComplementarity, expectedAvgComplementarity );
 
 
 	return 0;

testing/cpp/test_hs268.cpp

@@ -0,0 +1,97 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2014 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file testing/cpp/test_bench.cpp
+ *	\author Andreas Potschka, Christian Kirches, Hans Joachim Ferreau
+ *	\version 3.0
+ *	\date 2010-2014
+ *
+ *	Unit test running all benchmark examples stored in problems directory.
+ */
+
+
+
+#include <dirent.h>
+#include <cstring>
+#include <cstdlib>
+#include <qpOASES.hpp>
+#include <qpOASES/UnitTesting.hpp>
+
+
+/** Run benchmark examples. */
+int main( int argc, char *argv[] )
+{
+	USING_NAMESPACE_QPOASES
+
+	/* 1) Define benchmark arguments. */
+	BooleanType isSparse = BT_FALSE;
+	//BooleanType isSparse = BT_TRUE;
+	Options options;
+ 	options.setToDefault();
+	//options.setToMPC();
+	//options.setToReliable();
+	//options.printLevel = PL_LOW;
+	//options.printLevel = PL_MEDIUM;
+	options.printLevel = PL_TABULAR;
+
+
+	int nWSR;
+	real_t maxCPUtime; /* seconds */
+	real_t maxStationarity = 0.0, maxFeasibility = 0.0, maxComplementarity = 0.0;
+
+	char OQPproblem[MAX_STRING_LENGTH];
+	char problem[] = "HS268";
+	returnValue returnvalue;
+
+
+	/* 3) Run benchmark. */
+	fprintf(stdFile, "%-10s ", problem);
+	fflush(stdFile);
+
+	snprintf(OQPproblem, MAX_STRING_LENGTH, "../testing/cpp/data/problems/%s/", problem);
+	maxCPUtime = 100.0;
+	nWSR = 100;
+
+	returnvalue = runOQPbenchmark(	OQPproblem, isSparse, options,
+									nWSR, maxCPUtime, maxStationarity, maxFeasibility, maxComplementarity 
+									);
+
+	printf( "\n" );
+	printf( "stat:  %e\n", maxStationarity    );
+	printf( "feas:  %e\n", maxFeasibility     );
+	printf( "cmpl:  %e\n", maxComplementarity );
+
+	QPOASES_TEST_FOR_TOL( maxStationarity,    1e-11 );
+	QPOASES_TEST_FOR_TOL( maxFeasibility,     1e-14 );
+	QPOASES_TEST_FOR_TOL( maxComplementarity, 1e-14 );
+
+
+	return 0;
+}
+
+
+/*
+ *	end of file
+ */

testing/runUnitTests

@@ -77,6 +77,7 @@ runTest $counter ../bin/test_example4;
 runTest $counter ../bin/test_example5;
 runTest $counter ../bin/test_exampleLP;
 runTest $counter ../bin/test_qrecipe;
+runTest $counter ../bin/test_hs268;
 
 runTest $counter ../bin/test_example6;
 runTest $counter ../bin/test_example7;