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33 lines
916 B
33 lines
916 B
2 years ago
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#include "drake/solvers/decision_variable.h"
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#include <gtest/gtest.h>
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#include "drake/common/test_utilities/symbolic_test_util.h"
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namespace drake {
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namespace solvers {
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namespace test {
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using drake::symbolic::test::VarEqual;
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GTEST_TEST(TestDecisionVariable, TestVariableListRef) {
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symbolic::Variable x1("x1");
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symbolic::Variable x2("x2");
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symbolic::Variable x3("x3");
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symbolic::Variable x4("x4");
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VectorDecisionVariable<2> x_vec1(x3, x1);
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VectorDecisionVariable<2> x_vec2(x2, x4);
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VariableRefList var_list{x_vec1, x_vec2};
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VectorXDecisionVariable stacked_vars = ConcatenateVariableRefList(var_list);
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EXPECT_EQ(stacked_vars.rows(), 4);
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EXPECT_PRED2(VarEqual, stacked_vars(0), x3);
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EXPECT_PRED2(VarEqual, stacked_vars(1), x1);
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EXPECT_PRED2(VarEqual, stacked_vars(2), x2);
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EXPECT_PRED2(VarEqual, stacked_vars(3), x4);
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}
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} // namespace test
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} // namespace solvers
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} // namespace drake
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