test(c3) : add more tests for core module

Author: Meow404

.cirrus.yml

@@ -21,31 +21,30 @@ jammy_task:
       --local_resources=ram=24000
       --local_resources=cpu=8
       --jobs=8
+      --test_output=all
       --remote_cache=http://$CIRRUS_HTTP_CACHE_HOST
       //...
   coverage_script:
     - apt update && apt install -y lcov
-    # Coverage will run tests, as well as coverage for the code.
     - bazel coverage
       --combined_report=lcov
       --local_resources=ram=24000
       --local_resources=cpu=8
       --remote_cache=http://$CIRRUS_HTTP_CACHE_HOST
       --remote_download_minimal
       --strategy=CoverageReport=local
-      --experimental_split_coverage_postprocessing
       --experimental_fetch_all_coverage_outputs
       //...
     - ls -R
     - genhtml --branch-coverage
-      --output genhtml
+      --output coverage_report
       "bazel-out/_coverage/_coverage_report.dat"
   always:
     jammy_test_artifacts:
       path: "bazel-testlogs/**/test.xml"
       format: junit
     jammy_coverage_artifacts:
-      path: "genhtml/index.html"
+      path: "coverage_report/**/*"
       type: text/html
 
 noble_task:
@@ -70,6 +69,7 @@ noble_task:
       --local_resources=ram=24000
       --local_resources=cpu=8
       --jobs=8
+      --test_output=all
       --remote_cache=http://$CIRRUS_HTTP_CACHE_HOST
       //...
   coverage_script:
@@ -80,19 +80,17 @@ noble_task:
       --local_resources=cpu=8
       --remote_cache=http://$CIRRUS_HTTP_CACHE_HOST
       --remote_download_minimal
-            --remote_download_minimal
       --strategy=CoverageReport=local
-      --experimental_split_coverage_postprocessing
       --experimental_fetch_all_coverage_outputs
       //...
     - ls -R
     - genhtml --branch-coverage
-      --output genhtml
+      --output coverage_report
       "bazel-out/_coverage/_coverage_report.dat"
   always:
     noble_test_artifacts:
       path: "bazel-testlogs/**/test.xml"
       format: junit
     noble_coverage_artifacts:
-      path: "genhtml/index.html"
+      path: "coverage_report/**/*"
       type: text/html

core/test/c3_test.cc

@@ -5,6 +5,7 @@
 #include <gtest/gtest.h>
 
 #include "core/c3_miqp.h"
+#include "core/c3_qp.h"
 #include "core/test/c3_cartpole_problem.hpp"
 
 #include "drake/math/discrete_algebraic_riccati_equation.h"
@@ -331,37 +332,38 @@ TEST_F(C3CartpoleTest, ZSolStaleTest) {
   }
 }
 
-// Test the cartpole example
-// This test will take some time to complete ~30s
-TEST_F(C3CartpoleTest, End2EndCartpoleTest) {
-  /// initialize ADMM variables (delta, w)
-  std::vector<VectorXd> delta(N, VectorXd::Zero(n + m + k));
-  std::vector<VectorXd> w(N, VectorXd::Zero(n + m + k));
+template <typename T>
+class C3CartpoleTypedTest : public testing::Test, public C3CartpoleProblem {
+ protected:
+  C3CartpoleTypedTest()
+      : C3CartpoleProblem(0.411, 0.978, 0.6, 0.4267, 0.35, -0.35, 100, 9.81) {
+    pOpt = std::make_unique<T>(*pSystem, cost, xdesired, options);
+  }
+  std::unique_ptr<T> pOpt;
+};
 
-  /// initialize ADMM reset variables (delta, w are reseted to these values)
-  std::vector<VectorXd> delta_reset(N, VectorXd::Zero(n + m + k));
-  std::vector<VectorXd> w_reset(N, VectorXd::Zero(n + m + k));
+using projection_types = ::testing::Types<C3QP, C3MIQP>;
+TYPED_TEST_SUITE(C3CartpoleTypedTest, projection_types);
 
+// Test the cartpole example
+// This test will take some time to complete ~30s
+TYPED_TEST(C3CartpoleTypedTest, End2EndCartpoleTest) {
   int timesteps = 1000;  // number of timesteps for the simulation
 
   /// create state and input arrays
-  std::vector<VectorXd> x(timesteps, VectorXd::Zero(n));
-  std::vector<VectorXd> input(timesteps, VectorXd::Zero(k));
+  std::vector<VectorXd> x(timesteps, VectorXd::Zero(this->n));
+  std::vector<VectorXd> input(timesteps, VectorXd::Zero(this->k));
 
-  x[0] = x0;
+  x[0] = this->x0;
 
   int close_to_zero_counter = 0;
   for (int i = 0; i < timesteps - 1; i++) {
-    /// reset delta and w (default option)
-    delta = delta_reset;
-    w = w_reset;
-
     /// calculate the input given x[i]
-    pOpt->Solve(x[i]);
-    input[i] = pOpt->GetInputSolution()[0];
+    this->pOpt->Solve(x[i]);
+    input[i] = this->pOpt->GetInputSolution()[0];
 
     /// simulate the LCS
-    x[i + 1] = pSystem->Simulate(x[i], input[i]);
+    x[i + 1] = this->pSystem->Simulate(x[i], input[i]);
     if (x[i + 1].isZero(0.1)) {
       close_to_zero_counter++;
       if (close_to_zero_counter == 30) break;

tools/scripts/check_format.sh

@@ -16,9 +16,9 @@ for file in $FILES; do
 done
 
 if [ ${#NOT_FORMATTED[@]} -eq 0 ]; then
-    echo "All files are properly formatted. Good job!"
+    echo "🌟 All files are properly formatted. Good job! 🌟"
 else
-    echo "The following files are not properly formatted:"
+    echo "The following files are not properly formatted: 😟"
     for f in "${NOT_FORMATTED[@]}"; do
         echo "$f"
     done