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Model-based design and verification for robotics.
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MISOSTrajectoryProblem/solveTrajectory uses 'flip', which is not defined yet in mathworks 2012 #662

Closed RussTedrake closed 9 years ago

RussTedrake commented 9 years ago

285/338 Test #291: examples/Quadrotor/runMixedIntegerSimpleForest .................................***Failed 54.98 sec

                            < M A T L A B (R) >
                  Copyright 1984-2012 The MathWorks, Inc.
                    R2012b (8.0.0.783) 64-bit (glnxa64)
                              August 22, 2012

To get started, type one of these: helpwin, helpdesk, or demo.
For product information, visit www.mathworks.com.

To reproduce this test use rng(1635417,'twister')

[Warning: Disabling autosave for simulink blocks (to avoid generating a lot of
*.mdl.autosave files in your directory.  If you aren't a regular Simulink user
and don't want this disabled, comment out this section in addpath_drake.
To disable this warning in the future, add
   warning('off','Drake:DisablingSimulinkAutosave')
to your matlab startup.m] 
[> In addpath_drake at 74
  In addpath_drake at 4] 
 Added the lcm jar to your javaclasspath (found via cmake)
 Added the lcmgl jar to your javaclasspath (found via cmake)
 Calling addpath_iris
 Calling addpath_mosek

MOSEK Version 7.1.0.12 (Build date: 2014-12-12 07:25:47)
Copyright (c) 1998-2014 MOSEK ApS, Denmark. WWW: http://mosek.com
Platform: Linux/64-X86

For help type: help mosekopt.
LCM: Disabling IPV6 support
LCM: TTL set to zero, traffic will not leave localhost.
Running mixed-integer convex program for 3rd-degree polynomial...
 Calling addpath_yalmip

MOSEK Version 7.1.0.12 (Build date: 2014-12-12 07:25:47)
Copyright (c) 1998-2014 MOSEK ApS, Denmark. WWW: http://mosek.com
Platform: Linux/64-X86

Computer
  Platform               : Linux/64-X86    
  Cores                  : 4               

Problem
  Name                   :                 
  Objective sense        : min             
  Type                   : CONIC (conic optimization problem)
  Constraints            : 1695            
  Cones                  : 73              
  Scalar variables       : 507             
  Matrix variables       : 0               
  Integer variables      : 12              

Optimizer started.
Mixed integer optimizer started.
Optimizer  - threads                : 4
BRANCHES RELAXS   ACT_NDS  BEST_INT_OBJ         BEST_RELAX_OBJ       REL_GAP(%)  TIME  
0        1        0        NA                   3.1239667234e-01     NA          0.3   
0        1        1        NA                   3.1239667234e-01     NA          0.3   
0        1        1        NA                   3.1239667234e-01     NA          0.4   
0        1        1        NA                   3.1239667234e-01     NA          0.6   
0        1        1        NA                   3.1239667234e-01     NA          0.7   
0        1        1        NA                   3.1239667234e-01     NA          0.8   
1        2        2        NA                   3.1239667234e-01     NA          1.0   
3        4        2        NA                   3.1239667234e-01     NA          1.2   
4        5        3        NA                   3.1239667234e-01     NA          1.3   
6        7        5        NA                   3.1239667234e-01     NA          1.4   
9        10       6        NA                   3.1239667234e-01     NA          1.5   
11       12       4        NA                   3.1239667234e-01     NA          1.6   
13       14       6        NA                   3.1249808193e-01     NA          1.7   
17       18       6        NA                   3.1249808193e-01     NA          1.8   
21       22       4        NA                   3.1249808193e-01     NA          1.9   
23       24       6        NA                   1.5692746327e+00     NA          2.0   
26       27       7        NA                   1.5692746327e+00     NA          2.1   
28       29       5        NA                   1.5692746327e+00     NA          2.1   
31       32       4        NA                   1.7922490312e+00     NA          2.2   
33       34       2        1.9510255220e+00     1.7922490312e+00     8.14        2.2   
34       35       3        1.9510255220e+00     1.7922490312e+00     8.14        2.3   
37       38       0        1.7922496282e+00     1.7922496282e+00     0.00e+00    2.3   
An optimal solution satisfying the relative gap tolerance of 1.00e+00(%) has been located.
The relative gap is 0.00e+00(%).
An optimal solution satisfying the absolute gap tolerance of 0.00e+00 has been located.
The absolute gap is 0.00e+00.

Objective of best integer solution : 1.792249628223e+00      
Best objective bound               : 1.792249628223e+00      
Construct solution objective       : Not employed
Construct solution # roundings     : 0
User objective cut value           : 0
Number of cuts generated           : 0
Number of branches                 : 37
Number of relaxations solved       : 38
Number of interior point iterations: 477
Number of simplex iterations       : 0
Time spend presolving the root     : 0.03
Time spend in the heuristic        : 0.00
Time spend in the sub optimizers   : 0.00
  Time spend optimizing the root   : 0.19
Mixed integer optimizer terminated. Time: 2.34

Optimizer terminated. Time: 2.35    

Integer solution solution summary
  Problem status  : PRIMAL_FEASIBLE
  Solution status : INTEGER_OPTIMAL
  Primal.  obj: 1.7922496282e+00    Viol.  con: 1e-07    var: 0e+00    cones: 0e+00    itg: 0e+00  
Optimizer summary
  Optimizer                 -                        time: 2.35    
    Interior-point          - iterations : 0         time: 0.00    
      Basis identification  -                        time: 0.00    
        Primal              - iterations : 0         time: 0.00    
        Dual                - iterations : 0         time: 0.00    
        Clean primal        - iterations : 0         time: 0.00    
        Clean dual          - iterations : 0         time: 0.00    
        Clean primal-dual   - iterations : 0         time: 0.00    
    Simplex                 -                        time: 0.00    
      Primal simplex        - iterations : 0         time: 0.00    
      Dual simplex          - iterations : 0         time: 0.00    
      Primal-dual simplex   - iterations : 0         time: 0.00    
    Mixed integer           - relaxations: 38        time: 2.34    

Elapsed time is 6.665796 seconds.
Undefined function 'flip' for input arguments of type 'double'.

Error in MISOSTrajectoryProblem/solveTrajectory (line 277)
          coeffs(i,k,:) = flip(ct');

Error in runMixedIntegerEnvironment (line 94)
[~, ~, ~, safe_region_assignments] = prob.solveTrajectory(start, goal, safe_regions);

Error in runMixedIntegerSimpleForest (line 21)
runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, degree, n_segments, n_regions);

Error in fevalPackageSafe (line 21)
  feval(f);

<test_name>examples/Quadrotor/runMixedIntegerSimpleForest</test_name> <error_id>MATLAB:UndefinedFunction</error_id> <error_message>Undefined function 'flip' for input arguments of type 'double'.</error_message>
~isempty(strfind(test_output,'MISOSTrajectoryProblem')) && ~isempty(strfind(error_message,'flip'))
RussTedrake commented 9 years ago

and

291/338 Test #298: examples/Quadrotor/test/testMISOSTrajectory ....................................***Failed 42.77 sec

                            < M A T L A B (R) >
                  Copyright 1984-2012 The MathWorks, Inc.
                    R2012b (8.0.0.783) 64-bit (glnxa64)
                              August 22, 2012

To get started, type one of these: helpwin, helpdesk, or demo.
For product information, visit www.mathworks.com.

To reproduce this test use rng(1650841,'twister')

[Warning: Disabling autosave for simulink blocks (to avoid generating a lot of
*.mdl.autosave files in your directory.  If you aren't a regular Simulink user
and don't want this disabled, comment out this section in addpath_drake.
To disable this warning in the future, add
   warning('off','Drake:DisablingSimulinkAutosave')
to your matlab startup.m] 
[> In addpath_drake at 74
  In addpath_drake at 4] 
 Calling addpath_yalmip
 Calling addpath_iris
 Calling addpath_mosek

MOSEK Version 7.1.0.12 (Build date: 2014-12-12 07:25:47)
Copyright (c) 1998-2014 MOSEK ApS, Denmark. WWW: http://mosek.com
Platform: Linux/64-X86

For help type: help mosekopt.

MOSEK Version 7.1.0.12 (Build date: 2014-12-12 07:25:47)
Copyright (c) 1998-2014 MOSEK ApS, Denmark. WWW: http://mosek.com
Platform: Linux/64-X86

Computer
  Platform               : Linux/64-X86    
  Cores                  : 4               

Problem
  Name                   :                 
  Objective sense        : min             
  Type                   : CONIC (conic optimization problem)
  Constraints            : 800             
  Cones                  : 41              
  Scalar variables       : 291             
  Matrix variables       : 0               
  Integer variables      : 8               

Optimizer started.
Mixed integer optimizer started.
Optimizer  - threads                : 4
BRANCHES RELAXS   ACT_NDS  BEST_INT_OBJ         BEST_RELAX_OBJ       REL_GAP(%)  TIME  
0        1        0        NA                   2.0173914910e-04     NA          0.1   
0        1        1        NA                   2.0173914910e-04     NA          0.1   
0        1        1        2.1711285718e-02     2.0173914910e-04     99.07       0.2   
0        1        1        2.1711285718e-02     2.0173914910e-04     99.07       0.3   
0        1        1        2.1711285718e-02     2.0173914910e-04     99.07       0.4   
0        1        1        2.1711285718e-02     2.0173914910e-04     99.07       0.4   
1        2        2        2.1711285718e-02     2.0173914910e-04     99.07       0.5   
3        4        4        2.1711285718e-02     1.2001219656e-03     94.47       0.5   
7        8        4        2.1711285718e-02     1.2936462771e-03     94.04       0.6   
11       12       6        2.1711285718e-02     2.1250264674e-03     90.21       0.6   
14       15       3        2.1961532510e-03     2.1250264674e-03     3.24        0.6   
16       16       1        2.1961532510e-03     2.1961532510e-03     0.00e+00    0.6   
An optimal solution satisfying the relative gap tolerance of 1.00e+00(%) has been located.
The relative gap is 0.00e+00(%).
An optimal solution satisfying the absolute gap tolerance of 0.00e+00 has been located.
The absolute gap is 0.00e+00.

Objective of best integer solution : 2.196153250992e-03      
Best objective bound               : 2.196153250992e-03      
Construct solution objective       : Not employed
Construct solution # roundings     : 0
User objective cut value           : 0
Number of cuts generated           : 0
Number of branches                 : 16
Number of relaxations solved       : 16
Number of interior point iterations: 194
Number of simplex iterations       : 0
Time spend presolving the root     : 0.01
Time spend in the heuristic        : 0.00
Time spend in the sub optimizers   : 0.00
  Time spend optimizing the root   : 0.02
Mixed integer optimizer terminated. Time: 0.65

Optimizer terminated. Time: 0.67    

Integer solution solution summary
  Problem status  : PRIMAL_FEASIBLE
  Solution status : INTEGER_OPTIMAL
  Primal.  obj: 2.1961532510e-03    Viol.  con: 1e-05    var: 0e+00    cones: 0e+00    itg: 0e+00  
Optimizer summary
  Optimizer                 -                        time: 0.67    
    Interior-point          - iterations : 0         time: 0.00    
      Basis identification  -                        time: 0.00    
        Primal              - iterations : 0         time: 0.00    
        Dual                - iterations : 0         time: 0.00    
        Clean primal        - iterations : 0         time: 0.00    
        Clean dual          - iterations : 0         time: 0.00    
        Clean primal-dual   - iterations : 0         time: 0.00    
    Simplex                 -                        time: 0.00    
      Primal simplex        - iterations : 0         time: 0.00    
      Dual simplex          - iterations : 0         time: 0.00    
      Primal-dual simplex   - iterations : 0         time: 0.00    
    Mixed integer           - relaxations: 16        time: 0.65    

Elapsed time is 4.632925 seconds.
Undefined function 'flip' for input arguments of type 'double'.

Error in MISOSTrajectoryProblem/solveTrajectory (line 277)
          coeffs(i,k,:) = flip(ct');

Error in testMISOSTrajectory (line 105)
ytraj_iris = prob.solveTrajectory(start, goal, iris_regions);

Error in fevalPackageSafe (line 21)
  feval(f);

<test_name>examples/Quadrotor/test/testMISOSTrajectory</test_name> <error_id>MATLAB:UndefinedFunction</error_id> <error_message>Undefined function 'flip' for input arguments of type 'double'.</error_message>