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58 lines
1.8 KiB
58 lines
1.8 KiB
2 years ago
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#include <iostream>
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#include <Eigen/Core>
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#include <catch2/catch.hpp>
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#include <nlopt.hpp>
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#include <opt/displacement_opt.hpp>
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using namespace ipc::rigid;
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using namespace opt;
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TEST_CASE("Displacement optimization test", "[!shouldfail][opt][displacements]")
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{
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Eigen::MatrixX2d V;
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V.resize(4, 2);
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Eigen::MatrixX2d U;
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U.resize(4, 2);
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Eigen::MatrixX2i E;
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E.resize(2, 2);
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double volume_epsilon = 1.0;
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DetectionMethod ccd_detection_method = DetectionMethod::BRUTE_FORCE;
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Eigen::MatrixX2d Uopt;
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Uopt.resize(4, 2);
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Eigen::MatrixX2d actual_Uopt;
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actual_Uopt.resize(4, 2);
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OptimizationMethod opt_method;
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unsigned max_iter = 1000;
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SECTION("Horizontal edge falling")
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{
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// TODO: Fix this test
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SECTION("MMA Optimizer") { opt_method = OptimizationMethod::MMA; }
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SECTION("SLSQP Optimizer") { opt_method = OptimizationMethod::SLSQP; }
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SECTION("IP Optimizer") { opt_method = OptimizationMethod::IP; }
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V << -1, 1, 1, 1, -2, 0, 2, 0;
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U << 0, -2, 0, -2, 0, 0, 0, 0;
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E << 0, 1, 2, 3;
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displacements_optimization(V, U, E, volume_epsilon,
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ccd_detection_method, opt_method, max_iter, Uopt);
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actual_Uopt << 0, -1, 0, -1, 0, 0, 0, 0;
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CHECK((Uopt - actual_Uopt).squaredNorm() == Approx(0.0).margin(1e-8));
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}
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// SECTION("Vertical edge falling")
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// {
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// V << 0, 2, 0, 1, -1, 0, 1, 0;
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// U << 0, -3, 0, -3, 0, 0, 0, 0;
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// E << 0, 1, 2, 3;
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// displacements_nlopt_step(
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// V, U, E, volume_epsilon, ccd_detection_method, Uopt);
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// V(2, 0) *= 2;
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// V(3, 0) *= 2;
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// displacements_nlopt_step(
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// V, U, E, volume_epsilon, ccd_detection_method, actual_Uopt);
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// CHECK((Uopt - actual_Uopt).squaredNorm() ==
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// Approx(0.0).margin(1e-8));
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// }
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}
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