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osqp_solver_test.cc
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osqp_solver_test.cc
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#include "drake/solvers/osqp_solver.h"
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/solvers/mathematical_program.h"
#include "drake/solvers/test/quadratic_program_examples.h"
using ::testing::HasSubstr;
namespace drake {
namespace solvers {
namespace test {
GTEST_TEST(QPtest, TestUnconstrainedQP) {
MathematicalProgram prog;
auto x = prog.NewContinuousVariables<3>("x");
prog.AddQuadraticCost(x(0) * x(0));
OsqpSolver solver;
if (solver.available()) {
auto result = solver.Solve(prog, {}, {});
EXPECT_TRUE(result.is_success());
const double tol = 1E-10;
EXPECT_NEAR(result.GetSolution(x(0)), 0, tol);
EXPECT_NEAR(result.get_optimal_cost(), 0, tol);
EXPECT_EQ(result.get_solver_details<OsqpSolver>().y.rows(), 0);
}
// Add additional quadratic costs
prog.AddQuadraticCost((x(1) + x(2) - 2) * (x(1) + x(2) - 2));
if (solver.available()) {
auto result = solver.Solve(prog, {}, {});
EXPECT_TRUE(result.is_success());
const double tol = 1E-10;
EXPECT_NEAR(result.GetSolution(x(0)), 0, tol);
EXPECT_NEAR(result.GetSolution(x(1)) + result.GetSolution(x(2)), 2, tol);
EXPECT_NEAR(result.get_optimal_cost(), 0, tol);
EXPECT_EQ(result.get_solver_details<OsqpSolver>().y.rows(), 0);
}
// Add linear costs.
prog.AddLinearCost(4 * x(0) + 5);
// Now the cost is (x₀ + 2)² + (x₁ + x₂-2)² + 1
if (solver.available()) {
auto result = solver.Solve(prog, {}, {});
EXPECT_TRUE(result.is_success());
const double tol = 1E-10;
EXPECT_NEAR(result.GetSolution(x(0)), -2, tol);
EXPECT_NEAR(result.GetSolution(x(1)) + result.GetSolution(x(2)), 2, tol);
EXPECT_NEAR(result.get_optimal_cost(), 1, tol);
EXPECT_EQ(result.get_solver_details<OsqpSolver>().y.rows(), 0);
}
}
TEST_P(QuadraticProgramTest, TestQP) {
OsqpSolver solver;
prob()->RunProblem(&solver);
}
INSTANTIATE_TEST_SUITE_P(
OsqpTest, QuadraticProgramTest,
::testing::Combine(::testing::ValuesIn(quadratic_cost_form()),
::testing::ValuesIn(linear_constraint_form()),
::testing::ValuesIn(quadratic_problems())));
GTEST_TEST(QPtest, TestUnitBallExample) {
OsqpSolver solver;
if (solver.available()) {
TestQPonUnitBallExample(solver);
}
}
GTEST_TEST(QPtest, TestUnbounded) {
MathematicalProgram prog;
auto x = prog.NewContinuousVariables<3>();
prog.AddQuadraticCost(x(0) * x(0) + x(1));
OsqpSolver solver;
// The program is unbounded.
if (solver.available()) {
auto result = solver.Solve(prog, {}, {});
EXPECT_EQ(result.get_solution_result(), SolutionResult::kDualInfeasible);
}
// Add a constraint
prog.AddLinearConstraint(x(0) + 2 * x(2) == 2);
prog.AddLinearConstraint(x(0) >= 0);
if (solver.available()) {
auto result = solver.Solve(prog, {}, {});
EXPECT_EQ(result.get_solution_result(), SolutionResult::kDualInfeasible);
}
}
GTEST_TEST(QPtest, TestInfeasible) {
MathematicalProgram prog;
auto x = prog.NewContinuousVariables<2>();
prog.AddQuadraticCost(x(0) * x(0) + 2 * x(1) * x(1));
prog.AddLinearConstraint(x(0) + 2 * x(1) == 2);
prog.AddLinearConstraint(x(0) >= 1);
prog.AddLinearConstraint(x(1) >= 2);
OsqpSolver solver;
// The program is infeasible.
if (solver.available()) {
auto result = solver.Solve(prog, {}, {});
EXPECT_EQ(result.get_solution_result(),
SolutionResult::kInfeasibleConstraints);
EXPECT_EQ(result.get_optimal_cost(),
MathematicalProgram::kGlobalInfeasibleCost);
EXPECT_EQ(result.get_solver_details<OsqpSolver>().y.rows(), 0);
// In OSQP's default upstream settings, time-based adaptive rho is enabled
// by default (i.e., adaptive_rho_interval=0). However, in our OsqpSolver
// wrapper, we've changed the default to be non-zero so that solver results
// are deterministic. The following check proves that our custom default is
// effective: with time-based adaptive rho there would be one rho_update,
// but with our custom default value there will be no updates (since the
// iteration count never reaches the scheduled iteration step of an update).
EXPECT_EQ(result.get_solver_details<OsqpSolver>().rho_updates, 0);
}
}
GTEST_TEST(QPtest, TestQuadraticCostVariableOrder) {
OsqpSolver solver;
if (solver.available()) {
TestQuadraticCostVariableOrder(solver);
}
}
GTEST_TEST(OsqpSolverTest, DuplicatedVariable) {
OsqpSolver solver;
if (solver.available()) {
TestDuplicatedVariableQuadraticProgram(solver, 1E-5);
}
}
GTEST_TEST(OsqpSolverTest, DualSolution1) {
// Test GetDualSolution().
OsqpSolver solver;
TestQPDualSolution1(solver);
}
GTEST_TEST(OsqpSolverTest, DualSolution2) {
// Test GetDualSolution().
// This QP has non-zero dual solution for linear inequality constraint.
OsqpSolver solver;
TestQPDualSolution2(solver);
}
GTEST_TEST(OsqpSolverTest, DualSolution3) {
// Test GetDualSolution().
// This QP has non-zero dual solution for the bounding box constraint.
OsqpSolver solver;
TestQPDualSolution3(solver);
}
GTEST_TEST(OsqpSolverTest, EqualityConstrainedQPDualSolution1) {
OsqpSolver solver;
TestEqualityConstrainedQPDualSolution1(solver);
}
GTEST_TEST(OsqpSolverTest, EqualityConstrainedQPDualSolution2) {
OsqpSolver solver;
TestEqualityConstrainedQPDualSolution2(solver);
}
void AddTestProgram(
MathematicalProgram* prog,
const MatrixDecisionVariable<3, 1>& x) {
prog->AddLinearConstraint(x(0) + 2 * x(1) - 3 * x(2) <= 3);
prog->AddLinearConstraint(4 * x(0) - 2 * x(1) - 6 * x(2) >= -3);
prog->AddQuadraticCost(x(0) * x(0) + 2 * x(1) * x(1) + 5 * x(2) * x(2) +
2 * x(1) * x(2));
prog->AddLinearConstraint(8 * x(0) - x(1) == 2);
}
// This is a regression test for #18711. To reproduce that issue, we need to
// solve a sufficiently complicated QP so that OSQP will iterate internally
// enough to engage its wall-clock timing heuristics. We'll set up some very
// specific costs and constraints (captured from a real world example) and
// then repeatedly solve the same program over and over again, checking that
// the solution is bit-exact each time. Note that this is a probabilistic test:
// even if we revert the fix for #18711, this only fails ~40% of the time.
GTEST_TEST(OsqpSolverTest, ComplicatedExampleForAdaptiveRhoTiming) {
MathematicalProgram prog;
const int num_v = 7;
const int num_u = 7;
Eigen::MatrixXd M(num_v, num_v);
M << 1.5265000092743219, 1.3567292738062303e-01, 1.0509980442610054,
1.0593165893494538e-01, 5.2550137200876458e-02, 1.4695302469350939e-02,
-5.6634685479957378e-03,
//
1.3567292738062303e-01, 2.6582813453131502, 1.8437561004161429e-01,
-1.1606165163872926, -6.7115703782523864e-02, -6.8744248816288878e-02,
-2.3803654356554906e-03,
//
1.0509980442610054, 1.8437561004161429e-01, 7.5578462775698307e-01,
2.9778874473806963e-02, 4.2191302344065193e-02, 6.9686779847817938e-03,
-4.7168273440004261e-03,
//
1.0593165893494538e-01, -1.1606165163872926, 2.9778874473806963e-02,
7.0143698885704575e-01, 4.3907540905320175e-02, 6.0704344118780576e-02,
6.2450624459637065e-04,
//
5.2550137200876458e-02, -6.7115703782523864e-02, 4.2191302344065193e-02,
4.3907540905320175e-02, 2.3108956248772367e-02, -4.0027553954531062e-04,
-9.6135531130737148e-04,
//
1.4695302469350939e-02, -6.8744248816288878e-02, 6.9686779847817938e-03,
6.0704344118780576e-02, -4.0027553954531062e-04, 1.8750100174003432e-02,
-2.3318254131776553e-04,
//
-5.6634685479957378e-03, -2.3803654356554906e-03, -4.7168273440004261e-03,
6.2450624459637065e-04, -9.6135531130737148e-04, -2.3318254131776553e-04,
8.4560640585000036e-04;
Eigen::VectorXd C(num_v);
C << 0.12534316615346058, -4.262437098995484, -0.1292406593401465,
1.2824026531372175, 0.057990230523857114, -0.11631318722553598,
0.008118721429606525;
Eigen::VectorXd tau_g(num_v);
tau_g << 0.0, 3.2520059971872882e+01, 1.1056387788047277,
-1.6455090196304102e+01, -1.3129246602609450, -1.2645040362872129,
-1.6577819002396472e-02;
auto vd_star = prog.NewContinuousVariables(num_v, "vd_star");
auto u_star = prog.NewContinuousVariables(num_u, "u_star");
Eigen::MatrixXd Aeq(num_v, num_v + num_v);
Aeq.block(0, 0, num_v, num_v) = M;
Aeq.block(0, num_v, num_v, num_v) = Eigen::MatrixXd::Identity(num_v, num_v);
Eigen::VectorXd beq = -C + tau_g;
prog.AddLinearEqualityConstraint(Aeq, beq, {vd_star, u_star});
Eigen::MatrixXd task_cost_A(6, num_v);
task_cost_A << 0.0, 2.6276770346517636e-01, 3.0114875389439555e-01,
-4.7285620522256971e-01, 8.7440544000403608e-01, -4.8174857078266453e-01,
-1.9618608268142981e-01,
//
0.0, 9.6485912651310768e-01, -8.2014217710682832e-02,
-8.7801906757823511e-01, -4.5720465227404666e-01, -8.5793882676911759e-01,
-9.2923842949070412e-02,
//
1.0, 4.8965888601467475e-12, 9.5004373379395413e-01,
7.4091336548597356e-02, 1.6241623204075539e-01, 1.7849169188197500e-01,
-9.7615376881600568e-01,
//
2.8311221691848737e-01, 2.9275947741254926e-01, 2.4408407039656915e-01,
-8.6056328493326305e-03, 6.1561854687226442e-02, 1.0864947505835820e-01,
-1.2143064331837650e-17,
//
5.4444702526853128e-01, -7.9729499810435950e-02, 4.2587333018015111e-01,
4.1571230146216887e-02, 1.0963458655960948e-01, -4.5887476583813355e-02,
-1.3877787807814457e-17,
//
0.0, -5.9970742829586077e-01, -4.0606494474492376e-02,
4.3771792154289879e-01, -2.2809158687563048e-02, 7.2681710645204109e-02,
3.6862873864507151e-18;
Eigen::VectorXd task_cost_b(6);
task_cost_b << -24.566247201232553, -0.3677519895564192, -44.03725978974725,
34.38537004440926, 45.39628041050313, -42.53770459411413;
Eigen::MatrixXd task_cost_proj(num_v, 6);
task_cost_proj << 0.0, 0.0, 1.0, 2.8311221691848737e-01,
5.4444702526853128e-01, 0.0,
//
2.6276770346517636e-01, 9.6485912651310768e-01, 4.8965888601467475e-12,
2.9275947741254926e-01, -7.9729499810435950e-02, -5.9970742829586077e-01,
//
3.0114875389439555e-01, -8.2014217710682832e-02, 9.5004373379395413e-01,
2.4408407039656915e-01, 4.2587333018015111e-01, -4.0606494474492376e-02,
//
-4.7285620522256971e-01, -8.7801906757823511e-01, 7.4091336548597356e-02,
-8.6056328493326305e-03, 4.1571230146216887e-02, 4.3771792154289879e-01,
//
8.7440544000403608e-01, -4.5720465227404666e-01, 1.6241623204075539e-01,
6.1561854687226442e-02, 1.0963458655960948e-01, -2.2809158687563048e-02,
//
-4.8174857078266453e-01, -8.5793882676911759e-01, 1.7849169188197500e-01,
1.0864947505835820e-01, -4.5887476583813355e-02, 7.2681710645204109e-02,
//
-1.9618608268142981e-01, -9.2923842949070412e-02, -9.7615376881600568e-01,
-1.2143064331837650e-17, -1.3877787807814457e-17, 3.6862873864507151e-18;
prog.Add2NormSquaredCost(task_cost_proj * task_cost_A,
task_cost_proj * task_cost_b, vd_star);
if (!OsqpSolver::is_available()) {
return;
}
// Run one solve to get a specific answer.
auto run_one_solve = [&prog, &u_star]() {
const OsqpSolver dut;
const MathematicalProgramResult result = dut.Solve(prog);
EXPECT_TRUE(result.is_success());
return result.GetSolution(u_star);
};
const Eigen::VectorXd first_answer = run_one_solve();
// Run the same thing over and over again, to "prove" that it's deterministic.
for (int i = 0; i < 100; ++i) {
SCOPED_TRACE(fmt::format("i = {}", i));
const Eigen::VectorXd new_answer = run_one_solve();
ASSERT_EQ(new_answer, first_answer);
}
}
GTEST_TEST(OsqpSolverTest, SolverOptionsTest) {
MathematicalProgram prog;
auto x = prog.NewContinuousVariables<3>();
AddTestProgram(&prog, x);
MathematicalProgramResult result;
OsqpSolver osqp_solver;
if (osqp_solver.available()) {
osqp_solver.Solve(prog, {}, {}, &result);
const int OSQP_SOLVED = 1;
EXPECT_EQ(result.get_solver_details<OsqpSolver>().status_val, OSQP_SOLVED);
// OSQP is not very accurate, use a loose tolerance.
EXPECT_TRUE(CompareMatrices(result.get_solver_details<OsqpSolver>().y,
Eigen::Vector3d(0, 0, -0.0619621), 1E-5));
// Now only allow half the iterations in the OSQP solver. The solver should
// not be able to solve the problem accurately.
const int half_iterations =
result.get_solver_details<OsqpSolver>().iter / 2;
SolverOptions solver_options;
solver_options.SetOption(osqp_solver.solver_id(), "max_iter",
half_iterations);
osqp_solver.Solve(prog, {}, solver_options, &result);
EXPECT_NE(result.get_solver_details<OsqpSolver>().status_val, OSQP_SOLVED);
// Now set the options in prog.
prog.SetSolverOption(osqp_solver.solver_id(), "max_iter", half_iterations);
osqp_solver.Solve(prog, {}, {}, &result);
EXPECT_NE(result.get_solver_details<OsqpSolver>().status_val, OSQP_SOLVED);
}
}
GTEST_TEST(OsqpSolverTest, WarmStartPrimalOnly) {
MathematicalProgram prog;
auto x = prog.NewContinuousVariables<3>();
AddTestProgram(&prog, x);
MathematicalProgramResult result;
OsqpSolver osqp_solver;
if (osqp_solver.available()) {
// Solve with no prior solution; should be same as above test case.
osqp_solver.Solve(prog, {}, {}, &result);
const int OSQP_SOLVED = 1;
EXPECT_EQ(result.get_solver_details<OsqpSolver>().status_val, OSQP_SOLVED);
// Solve with primal-only warm-start, restricting the iterations as above,
// but showing that we now have a solution.
const int half_iterations =
result.get_solver_details<OsqpSolver>().iter / 2;
SolverOptions solver_options;
solver_options.SetOption(
osqp_solver.solver_id(), "max_iter", half_iterations);
const Eigen::VectorXd x_sol = result.get_x_val();
osqp_solver.Solve(prog, x_sol, solver_options, &result);
EXPECT_EQ(result.get_solver_details<OsqpSolver>().status_val, OSQP_SOLVED);
}
}
/* Tests the solver's processing of the verbosity options. With multiple ways
to request verbosity (common options and solver-specific options), we simply
apply a smoke test that none of the means causes runtime errors. Note, we
don't test the case where we configure the mathematical program itself; that
is resolved in SolverBase. We only need to test the options passed into
Solve(). The possible configurations are:
- No verbosity set at all (this is implicitly tested in all other tests).
- Common option explicitly set (on & off)
- Solver option explicitly set (on & off)
- Both options explicitly set (with all permutations of (on, on), etc.) */
GTEST_TEST(OsqpSolverTest, SolverOptionsVerbosity) {
MathematicalProgram prog;
auto x = prog.NewContinuousVariables<2>();
prog.AddLinearConstraint(x(0) + x(1) <= 3);
prog.AddLinearConstraint(4 * x(0) - 2 * x(1) >= -3);
prog.AddQuadraticCost(x(0) * x(0) + 2 * x(1) * x(1) + 2 * x(0) * x(1));
OsqpSolver osqp_solver;
if (osqp_solver.is_available()) {
// Setting common options.
for (int print_to_console : {0, 1}) {
SolverOptions options;
options.SetOption(CommonSolverOption::kPrintToConsole, print_to_console);
osqp_solver.Solve(prog, {}, options);
}
// Setting solver options.
for (int print_to_console : {0, 1}) {
SolverOptions options;
options.SetOption(OsqpSolver::id(), "verbose", print_to_console);
osqp_solver.Solve(prog, {}, options);
}
// Setting both.
for (int common_print_to_console : {0, 1}) {
for (int solver_print_to_console : {0, 1}) {
SolverOptions options;
options.SetOption(CommonSolverOption::kPrintToConsole,
common_print_to_console);
options.SetOption(OsqpSolver::id(), "verbose", solver_print_to_console);
osqp_solver.Solve(prog, {}, options);
}
}
}
}
GTEST_TEST(OsqpSolverTest, TimeLimitTest) {
// Intentionally create a slightly big problem to get a longer solve time.
int n_x = 200;
MathematicalProgram prog;
auto x = prog.NewContinuousVariables(n_x);
Eigen::MatrixXd A = Eigen::MatrixXd::Identity(n_x, n_x);
Eigen::VectorXd b = Eigen::VectorXd::Ones(n_x);
prog.AddLinearConstraint(A, -b, b, x);
prog.AddQuadraticErrorCost(A, -1.1 * b, x);
MathematicalProgramResult result;
OsqpSolver osqp_solver;
if (osqp_solver.available()) {
osqp_solver.Solve(prog, {}, {}, &result);
// Status codes listed in
// https://osqp.org/docs/interfaces/status_values.html
const int OSQP_SOLVED = 1;
const int OSQP_TIME_LIMIT_REACHED = -6;
EXPECT_EQ(result.get_solver_details<OsqpSolver>().status_val, OSQP_SOLVED);
// OSQP is not very accurate, use a loose tolerance.
EXPECT_TRUE(CompareMatrices(result.GetSolution(x), -b, 1E-5));
// Now only allow one hundredth of the solve time in the OSQP solver. The
// solver should not be able to solve the problem in time.
const double one_hundredth_solve_time =
result.get_solver_details<OsqpSolver>().solve_time / 100.0;
SolverOptions solver_options;
solver_options.SetOption(osqp_solver.solver_id(), "time_limit",
one_hundredth_solve_time);
osqp_solver.Solve(prog, {}, solver_options, &result);
EXPECT_EQ(result.get_solver_details<OsqpSolver>().status_val,
OSQP_TIME_LIMIT_REACHED);
// Now set the options in prog.
prog.SetSolverOption(osqp_solver.solver_id(), "time_limit",
one_hundredth_solve_time);
osqp_solver.Solve(prog, {}, {}, &result);
EXPECT_EQ(result.get_solver_details<OsqpSolver>().status_val,
OSQP_TIME_LIMIT_REACHED);
}
}
GTEST_TEST(OsqpSolverTest, ProgramAttributesGood) {
MathematicalProgram prog;
auto x = prog.NewContinuousVariables<1>("x");
prog.AddQuadraticCost(x(0) * x(0));
EXPECT_TRUE(OsqpSolver::ProgramAttributesSatisfied(prog));
EXPECT_EQ(OsqpSolver::UnsatisfiedProgramAttributes(prog), "");
}
GTEST_TEST(OsqpSolverTest, ProgramAttributesBad) {
MathematicalProgram prog;
auto x = prog.NewContinuousVariables<1>("x");
prog.AddCost(x(0) * x(0) * x(0));
EXPECT_FALSE(OsqpSolver::ProgramAttributesSatisfied(prog));
EXPECT_THAT(OsqpSolver::UnsatisfiedProgramAttributes(prog),
HasSubstr("GenericCost was declared"));
}
GTEST_TEST(OsqpSolverTest, ProgramAttributesMisfit) {
MathematicalProgram prog;
auto x = prog.NewContinuousVariables<1>("x");
prog.AddLinearCost(4 * x(0) + 5);
EXPECT_FALSE(OsqpSolver::ProgramAttributesSatisfied(prog));
EXPECT_THAT(OsqpSolver::UnsatisfiedProgramAttributes(prog),
HasSubstr("QuadraticCost is required"));
}
GTEST_TEST(OsqpSolverTest, TestNonconvexQP) {
OsqpSolver solver;
if (solver.available()) {
TestNonconvexQP(solver, true);
}
}
GTEST_TEST(OsqpSolverTest, VariableScaling1) {
// Quadractic cost and linear inequality constraints.
double s = 100;
MathematicalProgram prog;
auto x = prog.NewContinuousVariables<2>();
prog.AddLinearConstraint(2 * x(0) / s - 2 * x(1) == 2);
prog.AddQuadraticCost((x(0) / s + 1) * (x(0) / s + 1));
prog.AddQuadraticCost((x(1) + 1) * (x(1) + 1));
prog.SetVariableScaling(x(0), s);
OsqpSolver solver;
if (solver.available()) {
auto result = solver.Solve(prog);
EXPECT_TRUE(result.is_success());
const double tol = 1E-6;
EXPECT_NEAR(result.get_optimal_cost(), 0.5, tol);
EXPECT_TRUE(CompareMatrices(result.GetSolution(x),
Eigen::Vector2d((-0.5) * s, -1.5), tol));
}
}
GTEST_TEST(OsqpSolverTest, VariableScaling2) {
// Quadratic and linear cost, together with bounding box constraints.
double s = 100;
MathematicalProgram prog;
auto x = prog.NewContinuousVariables<2>();
prog.AddBoundingBoxConstraint(0.5 * s,
std::numeric_limits<double>::infinity(), x(0));
prog.AddQuadraticCost((x(0) / s + 1) * (x(0) / s + 1));
prog.AddQuadraticCost(x(1) * x(1));
prog.AddLinearCost(2 * x(1) + 1);
prog.SetVariableScaling(x(0), s);
OsqpSolver solver;
if (solver.available()) {
auto result = solver.Solve(prog);
EXPECT_TRUE(result.is_success());
const double tol = 1E-6;
EXPECT_NEAR(result.get_optimal_cost(), 2.25, tol);
EXPECT_TRUE(CompareMatrices(result.GetSolution(x),
Eigen::Vector2d((0.5) * s, -1), tol));
}
}
} // namespace test
} // namespace solvers
} // namespace drake