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May 27, 2025
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Update test_msipddp_core.cpp #111

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158 changes: 79 additions & 79 deletions tests/cddp_core/test_msipddp_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@
#include "matplot/matplot.h"

using namespace matplot;
namespace fs = std::filesystem;
// namespace fs = std::filesystem;

TEST(MSIPDDPTest, Solve) {
// Problem parameters
Expand Down Expand Up @@ -113,85 +113,85 @@ TEST(MSIPDDPTest, Solve) {

ASSERT_TRUE(solution.converged);

// --- Plotting Setup ---
const std::string plotDirectory = "../results/tests/msipddp_unicycle";
if (!fs::exists(plotDirectory)) {
fs::create_directories(plotDirectory);
}

// Extract solution data for plotting
auto X_sol = solution.state_sequence; // size: horizon + 1
auto U_sol = solution.control_sequence; // size: horizon
auto t_sol = solution.time_sequence; // size: horizon + 1

std::vector<double> time_state, time_control;
std::vector<double> x_arr, y_arr, theta_arr;
std::vector<double> v_arr, omega_arr;

for (int i = 0; i < X_sol.size(); ++i) {
time_state.push_back(t_sol[i]);
x_arr.push_back(X_sol[i](0));
y_arr.push_back(X_sol[i](1));
theta_arr.push_back(X_sol[i](2));
}
for (int i = 0; i < U_sol.size(); ++i) {
time_control.push_back(t_sol[i]); // Use t_sol[i] which matches U_sol index
v_arr.push_back(U_sol[i](0));
omega_arr.push_back(U_sol[i](1));
}

// --- Static Plot ---
auto fig1 = figure(true);
fig1->size(1200, 800);
fig1->name("MSIPDDP Unicycle Solution");

// Subplot for state trajectory (x, y, theta)
auto ax1 = subplot(2, 1, 0);
hold(ax1, true);
plot(ax1, time_state, x_arr, "-b")->line_width(2).display_name("x");
plot(ax1, time_state, y_arr, "-r")->line_width(2).display_name("y");
plot(ax1, time_state, theta_arr, "-g")->line_width(2).display_name("theta");
title(ax1, "Unicycle State Trajectory");
xlabel(ax1, "Time [s]");
ylabel(ax1, "Value");
legend(ax1);
grid(ax1, true);
hold(ax1, false);

// Subplot for control input (v, omega)
auto ax2 = subplot(2, 1, 1);
hold(ax2, true);
plot(ax2, time_control, v_arr, "-c")->line_width(2).display_name("v");
plot(ax2, time_control, omega_arr, "-m")->line_width(2).display_name("omega");
title(ax2, "Control Input");
xlabel(ax2, "Time [s]");
ylabel(ax2, "Value");
legend(ax2);
grid(ax2, true);
hold(ax2, false);
// // --- Plotting Setup ---
// const std::string plotDirectory = "../results/tests/msipddp_unicycle";
// if (!fs::exists(plotDirectory)) {
// fs::create_directories(plotDirectory);
// }

// // Extract solution data for plotting
// auto X_sol = solution.state_sequence; // size: horizon + 1
// auto U_sol = solution.control_sequence; // size: horizon
// auto t_sol = solution.time_sequence; // size: horizon + 1

// std::vector<double> time_state, time_control;
// std::vector<double> x_arr, y_arr, theta_arr;
// std::vector<double> v_arr, omega_arr;

// for (int i = 0; i < X_sol.size(); ++i) {
// time_state.push_back(t_sol[i]);
// x_arr.push_back(X_sol[i](0));
// y_arr.push_back(X_sol[i](1));
// theta_arr.push_back(X_sol[i](2));
// }
// for (int i = 0; i < U_sol.size(); ++i) {
// time_control.push_back(t_sol[i]); // Use t_sol[i] which matches U_sol index
// v_arr.push_back(U_sol[i](0));
// omega_arr.push_back(U_sol[i](1));
// }

// // --- Static Plot ---
// auto fig1 = figure(true);
// fig1->size(1200, 800);
// fig1->name("MSIPDDP Unicycle Solution");

// // Subplot for state trajectory (x, y, theta)
// auto ax1 = subplot(2, 1, 0);
// hold(ax1, true);
// plot(ax1, time_state, x_arr, "-b")->line_width(2).display_name("x");
// plot(ax1, time_state, y_arr, "-r")->line_width(2).display_name("y");
// plot(ax1, time_state, theta_arr, "-g")->line_width(2).display_name("theta");
// title(ax1, "Unicycle State Trajectory");
// xlabel(ax1, "Time [s]");
// ylabel(ax1, "Value");
// legend(ax1);
// grid(ax1, true);
// hold(ax1, false);

// // Subplot for control input (v, omega)
// auto ax2 = subplot(2, 1, 1);
// hold(ax2, true);
// plot(ax2, time_control, v_arr, "-c")->line_width(2).display_name("v");
// plot(ax2, time_control, omega_arr, "-m")->line_width(2).display_name("omega");
// title(ax2, "Control Input");
// xlabel(ax2, "Time [s]");
// ylabel(ax2, "Value");
// legend(ax2);
// grid(ax2, true);
// hold(ax2, false);


save(fig1, plotDirectory + "/unicycle_msipddp_test.png");
std::cout << "Static plot saved to " << plotDirectory << "/unicycle_msipddp_test.png" << std::endl;

// Plot x-y trajectory
auto fig2 = figure(true);
fig2->size(1200, 800);
fig2->name("MSIPDDP Unicycle Solution");

// Subplot for state trajectory (x, y, theta)
auto ax3 = subplot(2, 1, 0);
hold(ax3, true);
plot(ax3, x_arr, y_arr, "-b")->line_width(2).display_name("x-y trajectory");
title(ax3, "Unicycle State Trajectory");
xlabel(ax3, "x [m]");
ylabel(ax3, "y [m]");
legend(ax3);
grid(ax3, true);
hold(ax3, false);

save(fig2, plotDirectory + "/unicycle_msipddp_test_xy.png");
std::cout << "Static plot saved to " << plotDirectory << "/unicycle_msipddp_test_xy.png" << std::endl;
// save(fig1, plotDirectory + "/unicycle_msipddp_test.png");
// std::cout << "Static plot saved to " << plotDirectory << "/unicycle_msipddp_test.png" << std::endl;

// // Plot x-y trajectory
// auto fig2 = figure(true);
// fig2->size(1200, 800);
// fig2->name("MSIPDDP Unicycle Solution");

// // Subplot for state trajectory (x, y, theta)
// auto ax3 = subplot(2, 1, 0);
// hold(ax3, true);
// plot(ax3, x_arr, y_arr, "-b")->line_width(2).display_name("x-y trajectory");
// title(ax3, "Unicycle State Trajectory");
// xlabel(ax3, "x [m]");
// ylabel(ax3, "y [m]");
// legend(ax3);
// grid(ax3, true);
// hold(ax3, false);

// save(fig2, plotDirectory + "/unicycle_msipddp_test_xy.png");
// std::cout << "Static plot saved to " << plotDirectory << "/unicycle_msipddp_test_xy.png" << std::endl;
}


Expand Down Expand Up @@ -318,4 +318,4 @@ Final Cost: 1.797722e+00
[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (612 ms total)
[ PASSED ] 1 test.
*/
*/
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