Skip to content

Feature/add tests #43

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
markomiz merged 3 commits into from
Jan 15, 2026
Merged

Feature/add tests #43

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
1ef8d89
add tests, make osqp solver fixes
markodlr Jan 15, 2026
39282d4
add osqp guards for better github workflow
markodlr Jan 15, 2026
db94b65
Merge branch 'main' into feature/add_tests
markomiz Jan 15, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions tests/integration_test.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,9 @@

#include "multi_agent_solver/multi_agent_problem.hpp"
#include "multi_agent_solver/ocp.hpp"
#ifdef MAS_HAVE_OSQP
#include "multi_agent_solver/solvers/osqp.hpp"
#endif
#include "multi_agent_solver/solvers/ilqr.hpp"
#include "multi_agent_solver/strategies/centralized.hpp"
#include "multi_agent_solver/strategies/nash.hpp"
Expand Down Expand Up @@ -85,6 +87,7 @@ create_single_track_circular_ocp( double initial_theta, double track_radius, dou

} // namespace

#ifdef MAS_HAVE_OSQP
TEST( IntegrationTest, SingleTrackCentralizedOSQP )
{
SolverParams params;
Expand Down Expand Up @@ -143,6 +146,7 @@ TEST( IntegrationTest, SingleTrackCentralizedOSQP )
EXPECT_TRUE( std::isfinite(v) );
}
}
#endif

TEST( IntegrationTest, SingleTrackCentralizedILQR )
{
Expand Down
2 changes: 2 additions & 0 deletions tests/osqp_bounds_test.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
#ifdef MAS_HAVE_OSQP
#include <gtest/gtest.h>

#include "multi_agent_solver/ocp.hpp"
Expand Down Expand Up @@ -103,3 +104,4 @@ TEST_F( OSQPBoundsTest, OSQPCollocationSolverRespectsStateBounds )
}

} // namespace mas
#endif // MAS_HAVE_OSQP