Merge branch 'test-common' into 'master'

Added test for horizon slicing, shared libraries are now ignored See merge request altairLab/optcontrol/libmpc!48
nicolapiccinelli · Jun 7, 2024 · 37b4d87 · 37b4d87
2 parents d2eb02f + cf03824
commit 37b4d87
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diff --git a/python/.gitignore b/python/.gitignore
@@ -1,3 +1,4 @@
 build/
 dist/
-pympcxx.egg-info/
+pympcxx.egg-info/
+*.so
diff --git a/python/examples/pympcxx.cpython-38-x86_64-linux-gnu.so b/python/examples/pympcxx.cpython-38-x86_64-linux-gnu.so
diff --git a/test/NLMPC/test_common.cpp b/test/NLMPC/test_common.cpp
@@ -103,4 +103,67 @@ TEMPLATE_TEST_CASE_SIG(
 
     // check slack value
     REQUIRE(x(x.size() - 1) == e);
+}
+
+TEMPLATE_TEST_CASE_SIG(
+    MPC_TEST_NAME("Checking horizon slicing validation"),
+    MPC_TEST_TAGS("[horizon slicing][template]"),
+    ((int Tnx, int Tnu, int Tph, int Tch), Tnx, Tnu, Tph, Tch),
+    (1, 1, 1, 1), (5, 1, 1, 1), (5, 3, 1, 1),
+    (5, 3, 7, 1), (5, 3, 7, 4), (5, 3, 7, 7))
+{
+    // instantiate the nlmpc class
+    const size_t Tny = Tnx;
+    mpc::NLMPC<> nlmpc(Tnx, Tnu, Tny, Tph, Tch, 0, 0);
+    mpc::LMPC<> lmpc(Tnx, Tnu, 0, Tny, Tph, Tch);
+
+    // test various horizon slice
+    mpc::HorizonSlice slice = mpc::HorizonSlice::all();
+    REQUIRE(nlmpc.isSliceUnset(slice));
+    REQUIRE_FALSE(nlmpc.isPredictionHorizonSliceValid(slice));
+    REQUIRE_FALSE(nlmpc.isControlHorizonSliceValid(slice));
+
+    REQUIRE(lmpc.isSliceUnset(slice));
+    REQUIRE_FALSE(lmpc.isPredictionHorizonSliceValid(slice));
+    REQUIRE_FALSE(lmpc.isControlHorizonSliceValid(slice));
+
+    slice.start = 0;
+    slice.end = Tph;
+
+    REQUIRE_FALSE(nlmpc.isSliceUnset(slice));
+    REQUIRE(nlmpc.isPredictionHorizonSliceValid(slice));
+
+    REQUIRE_FALSE(lmpc.isSliceUnset(slice));
+    REQUIRE(lmpc.isPredictionHorizonSliceValid(slice));
+
+    slice.start = 0;
+    slice.end = Tch;
+
+    REQUIRE_FALSE(nlmpc.isSliceUnset(slice));
+    REQUIRE(nlmpc.isControlHorizonSliceValid(slice));
+
+    REQUIRE_FALSE(lmpc.isSliceUnset(slice));
+    REQUIRE(lmpc.isControlHorizonSliceValid(slice));
+
+    slice.start = 0;
+    slice.end = std::min(Tph, Tch);
+
+    REQUIRE_FALSE(nlmpc.isSliceUnset(slice));
+    REQUIRE(nlmpc.isPredictionHorizonSliceValid(slice));
+    REQUIRE(nlmpc.isControlHorizonSliceValid(slice));
+
+    REQUIRE_FALSE(lmpc.isSliceUnset(slice));
+    REQUIRE(lmpc.isPredictionHorizonSliceValid(slice));
+    REQUIRE(lmpc.isControlHorizonSliceValid(slice));
+
+    slice.start = 0;
+    slice.end = Tph + 1;
+
+    REQUIRE_FALSE(nlmpc.isSliceUnset(slice));
+    REQUIRE_FALSE(nlmpc.isPredictionHorizonSliceValid(slice));
+    REQUIRE_FALSE(nlmpc.isControlHorizonSliceValid(slice));
+
+    REQUIRE_FALSE(lmpc.isSliceUnset(slice));
+    REQUIRE_FALSE(lmpc.isPredictionHorizonSliceValid(slice));
+    REQUIRE_FALSE(lmpc.isControlHorizonSliceValid(slice));
 }