forked from pz4kybsvg/Conception
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
34 lines
925 B
34 lines
925 B
#include "drake/solvers/indeterminate.h"
|
|
|
|
#include <gtest/gtest.h>
|
|
|
|
#include "drake/common/test_utilities/symbolic_test_util.h"
|
|
|
|
namespace drake {
|
|
namespace solvers {
|
|
namespace test {
|
|
|
|
using drake::symbolic::test::VarEqual;
|
|
|
|
GTEST_TEST(TestIndeterminates, TestIndeterminatesListRef) {
|
|
symbolic::Variable x1("x1");
|
|
symbolic::Variable x2("x2");
|
|
symbolic::Variable x3("x3");
|
|
symbolic::Variable x4("x4");
|
|
|
|
VectorIndeterminate<2> x_vec1(x3, x1);
|
|
VectorIndeterminate<2> x_vec2(x2, x4);
|
|
IndeterminatesRefList var_list{x_vec1, x_vec2};
|
|
|
|
VectorXIndeterminate stacked_vars =
|
|
ConcatenateIndeterminatesRefList(var_list);
|
|
EXPECT_EQ(stacked_vars.rows(), 4);
|
|
EXPECT_PRED2(VarEqual, stacked_vars(0), x3);
|
|
EXPECT_PRED2(VarEqual, stacked_vars(1), x1);
|
|
EXPECT_PRED2(VarEqual, stacked_vars(2), x2);
|
|
EXPECT_PRED2(VarEqual, stacked_vars(3), x4);
|
|
}
|
|
} // namespace test
|
|
} // namespace solvers
|
|
} // namespace drake
|