Function randomlyModifyProblem

tests/gar/parallel.cpp:173–183

Randomize some of the parameters of the problem. This simulates something like updating the LQ problem in SQP.

/// Randomize some of the parameters of the problem. This simulates something
/// like updating the LQ problem in SQP.
void randomlyModifyProblem(std::mt19937 rng, problem_t &prob) {
  normal_unary_op normal_op{rng, 0.1};
  auto N = size_t(prob.horizon());
  std::vector<size_t> idx = {0, N / 3, N / 2, N / 2 + 1, N / 2 + 2, N};
  for (auto i : idx) {
    auto &kn = prob.stages.at(i);
    kn.A += MatrixXs::NullaryExpr(kn.nx, kn.nx, normal_op);
    kn.B += MatrixXs::NullaryExpr(kn.nx, kn.nu, normal_op);
    kn.q += VectorXs::NullaryExpr(kn.nx, normal_op);
  }
}

TEST_CASE("parallel_solver_class", "[gar]") {
  std::mt19937 rng{Catch::getSeed()};