TestA.cpp

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#include "TestA.hpp"
 
#include <Eigen/Core>
#include <iostream>
 
using namespace eiquadprog::solvers;
using namespace eiquadprog::tests;
 
A::A() : Q_(2, 2), C_(2), Aeq_(0, 2), Beq_(0), Aineq_(0, 2), Bineq_(0), QP_() {
  QP_.reset(2, 0, 0);
 
  Q_.setZero();
  Q_(0, 0) = 1.0;
  Q_(1, 1) = 1.0;
 
  C_.setZero();
 
  expected_ = EIQUADPROG_FAST_OPTIMAL;
}
 
EiquadprogFast_status A::solve(Eigen::VectorXd &x) {
  return QP_.solve_quadprog(Q_, C_, Aeq_, Beq_, Aineq_, Bineq_, x);
}