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constant-function.cc

Example shows constant function use.

// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
//
// This file is part of the roboptim.
//
// roboptim 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 3 of the License, or
// (at your option) any later version.
//
// roboptim 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 roboptim. If not, see <http://www.gnu.org/licenses/>.
#include "shared-tests/fixture.hh"
#include <iostream>
#include <roboptim/core/io.hh>
#include <roboptim/core/constant-function.hh>
using namespace roboptim;
BOOST_FIXTURE_TEST_SUITE (core, TestSuiteConfiguration)
BOOST_AUTO_TEST_CASE (constant_function)
{
boost::shared_ptr<boost::test_tools::output_test_stream>
output = retrievePattern ("constant-function");
ConstantFunction::vector_t offset (4);
offset[0] = 12.;
offset[1] = 46.;
offset[2] = 2.;
offset[3] = -9.;
ConstantFunction cst (offset);
ConstantFunction::vector_t x (4);
x.setZero ();
(*output)
<< cst << std::endl
<< "Evaluate: " << std::endl
<< cst (x) << std::endl
<< "Gradient: " << std::endl
<< cst.gradient (x) << std::endl
<< "Jacobian: " << std::endl
<< cst.jacobian (x) << std::endl;
std::cout << output->str () << std::endl;
BOOST_CHECK (output->match_pattern ());
}
BOOST_AUTO_TEST_SUITE_END ()