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[solvers] Add missing unit tests for options handling #21939

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Sep 26, 2024
Merged

[solvers] Add missing unit tests for options handling #21939

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4 changes: 3 additions & 1 deletion solvers/BUILD.bazel
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Original file line number Diff line number Diff line change
Expand Up @@ -322,7 +322,7 @@ drake_cc_library(
"//common/symbolic:expression",
],
implementation_deps = [
"//solvers:decision_variable",
":decision_variable",
],
)

Expand Down Expand Up @@ -1338,6 +1338,7 @@ drake_cc_googletest(
":semidefinite_program_examples",
":sos_examples",
"//common/test_utilities:eigen_matrix_compare",
"//common/test_utilities:expect_throws_message",
],
)

Expand Down Expand Up @@ -1621,6 +1622,7 @@ drake_cc_googletest(
":optimization_examples",
":quadratic_program_examples",
"//common/test_utilities:eigen_matrix_compare",
"//common/test_utilities:expect_throws_message",
],
)

Expand Down
13 changes: 13 additions & 0 deletions solvers/test/csdp_solver_test.cc
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Expand Up @@ -3,6 +3,7 @@
#include <gtest/gtest.h>

#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/common/test_utilities/expect_throws_message.h"
#include "drake/solvers/test/csdp_test_examples.h"
#include "drake/solvers/test/linear_program_examples.h"
#include "drake/solvers/test/second_order_cone_program_examples.h"
Expand Down Expand Up @@ -515,6 +516,18 @@ TEST_F(TrivialSDP1, SolveVerbose) {
}
}

// This is a code coverage test of reporting malformed options.
TEST_F(TrivialSDP1, UnknownRemoveFreeVariableMethod) {
UnivariateNonnegative1 example;
CsdpSolver solver;
SolverOptions options;
options.SetOption(solver.id(), "drake::RemoveFreeVariableMethod", 222);
if (solver.available()) {
DRAKE_EXPECT_THROWS_MESSAGE(solver.Solve(example.prog(), {}, options),
".*unknown.*RemoveFreeVariableMethod.*");
}
}

// Confirm that setting solver options has an effect on the solve.
TEST_F(TrivialSDP1, SolverOptionsPropagation) {
CsdpSolver solver;
Expand Down
49 changes: 40 additions & 9 deletions solvers/test/mosek_solver_test.cc
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Expand Up @@ -302,7 +302,7 @@ GTEST_TEST(MosekTest, TestLogging) {
}

GTEST_TEST(MosekTest, SolverOptionsTest) {
// We test that passing solver options change the behavior of
// We test that passing solver options changes the behavior of
// MosekSolver::Solve().
MathematicalProgram prog;
auto x = prog.NewContinuousVariables<2>();
Expand All @@ -311,17 +311,27 @@ GTEST_TEST(MosekTest, SolverOptionsTest) {
prog.AddConstraint(x(1) >= 0);
prog.AddLinearCost(1E5 * x(0) + x(1));

MosekSolver mosek_solver;
SolverOptions solver_options;
solver_options.SetOption(MosekSolver::id(), "MSK_DPAR_DATA_TOL_C_HUGE", 1E3);
MathematicalProgramResult result;
MosekSolver mosek_solver;

// Set a string option, to at least make sure nothing crashes. Unfortunately,
// there is no MOSEK string option that affects the output or logging, so we
// cannot actually test that the option is propagated correctly.
solver_options.SetOption(MosekSolver::id(), "MSK_SPAR_BAS_SOL_FILE_NAME",
"/tmp/mosek.bas");

// Solve with 1e3 => failed.
solver_options.SetOption(MosekSolver::id(), "MSK_DPAR_DATA_TOL_C_HUGE", 1E3);
mosek_solver.Solve(prog, {}, solver_options, &result);
EXPECT_FALSE(result.is_success());
// This response code is defined in
// https://docs.mosek.com/10.1/capi/response-codes.html#mosek.rescode
const int MSK_RES_ERR_HUGE_C{1375};
EXPECT_EQ(result.get_solver_details<MosekSolver>().rescode,
MSK_RES_ERR_HUGE_C);

// Solve with 1e6 => success.
solver_options.SetOption(MosekSolver::id(), "MSK_DPAR_DATA_TOL_C_HUGE", 1E6);
mosek_solver.Solve(prog, {}, solver_options, &result);
EXPECT_TRUE(result.is_success());
Expand All @@ -332,14 +342,35 @@ GTEST_TEST(MosekSolver, SolverOptionsErrorTest) {
MathematicalProgram prog;
auto x = prog.NewContinuousVariables<2>();
prog.AddLinearConstraint(x(0) + x(1) >= 0);

MathematicalProgramResult result;
MosekSolver mosek_solver;
SolverOptions solver_options;
solver_options.SetOption(MosekSolver::id(), "non-existing options", 42);
DRAKE_EXPECT_THROWS_MESSAGE(
mosek_solver.Solve(prog, {}, solver_options, &result),
".*cannot set Mosek option \'non-existing options\' to value \'42\'.*");

// Test `int`.
{
SolverOptions solver_options;
solver_options.SetOption(MosekSolver::id(), "no_such_option", 42);
DRAKE_EXPECT_THROWS_MESSAGE(
mosek_solver.Solve(prog, {}, solver_options, &result),
".*cannot set Mosek option \'no_such_option\' to value \'42\'.*");
}

// Test `double`.
{
SolverOptions solver_options;
solver_options.SetOption(MosekSolver::id(), "no_such_option", 0.5);
DRAKE_EXPECT_THROWS_MESSAGE(
mosek_solver.Solve(prog, {}, solver_options, &result),
".*cannot set Mosek option \'no_such_option\' to value \'0.5\'.*");
}

// Test `string`.
{
SolverOptions solver_options;
solver_options.SetOption(MosekSolver::id(), "no_such_option", "foo");
DRAKE_EXPECT_THROWS_MESSAGE(
mosek_solver.Solve(prog, {}, solver_options, &result),
".*cannot set Mosek option \'no_such_option\' to value \'foo\'.*");
}
}

GTEST_TEST(MosekTest, Write) {
Expand Down
7 changes: 7 additions & 0 deletions solvers/test/nlopt_solver_test.cc
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Expand Up @@ -2,6 +2,7 @@

#include <gtest/gtest.h>

#include "drake/common/test_utilities/expect_throws_message.h"
#include "drake/solvers/mathematical_program.h"
#include "drake/solvers/test/linear_program_examples.h"
#include "drake/solvers/test/mathematical_program_test_util.h"
Expand Down Expand Up @@ -55,6 +56,12 @@ GTEST_TEST(NloptSolverTest, SetAlgorithm) {
const auto result =
solver.Solve(prog, Eigen::VectorXd::Ones(2), solver_options);
ASSERT_TRUE(result.is_success());

solver_options.SetOption(solver.id(), NloptSolver::AlgorithmName(),
"FOO_BAR");
DRAKE_EXPECT_THROWS_MESSAGE(
solver.Solve(prog, Eigen::VectorXd::Ones(2), solver_options),
".*Unknown.*algorithm.*");
}

TEST_F(QuadraticEqualityConstrainedProgram1, Test) {
Expand Down
13 changes: 7 additions & 6 deletions solvers/test/snopt_solver_test.cc
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Expand Up @@ -547,26 +547,27 @@ GTEST_TEST(SnoptSolverTest, EckhardtDualSolution) {
GTEST_TEST(SnoptSolverTest, BadIntegerParameter) {
SnoptSolver solver;
MathematicalProgram prog;
prog.SetSolverOption(solver.solver_id(), "not an option", 15);
prog.SetSolverOption(solver.solver_id(), "not_an_option", 15);
DRAKE_EXPECT_THROWS_MESSAGE(
solver.Solve(prog),
"Error setting Snopt integer parameter not an option");
"Error setting Snopt integer parameter not_an_option");
}

GTEST_TEST(SnoptSolverTest, BadDoubleParameter) {
SnoptSolver solver;
MathematicalProgram prog;
prog.SetSolverOption(solver.solver_id(), "not an option", 15.0);
prog.SetSolverOption(solver.solver_id(), "not_an_option", 15.1);
DRAKE_EXPECT_THROWS_MESSAGE(
solver.Solve(prog), "Error setting Snopt double parameter not an option");
solver.Solve(prog),
"Error setting Snopt double parameter not_an_option");
}

GTEST_TEST(SnoptSolverTest, BadStringParameter) {
SnoptSolver solver;
MathematicalProgram prog;
prog.SetSolverOption(solver.solver_id(), "not an option", "test");
prog.SetSolverOption(solver.solver_id(), "not_an_option", "test");
DRAKE_EXPECT_THROWS_MESSAGE(
solver.Solve(prog), "Error setting Snopt string parameter not an option");
solver.Solve(prog), "Error setting Snopt string parameter not_an_option");
}

GTEST_TEST(SnoptSolverTest, TestNonconvexQP) {
Expand Down