def test_constraint_params(accel_constraint_setup):
    """ Test constraint satisfaction with cvxpy.
    """
    (path, ss, alim), accel_const = accel_constraint_setup

    # An user of the class
    a, b, c, F, g, ubound, xbound = accel_const.compute_constraint_params(path, ss)
    assert xbound is None

    N = ss.shape[0] - 1
    dof = path.dof

    ps = path(ss, 1)
    pss = path(ss, 2)

    F_actual = np.vstack((np.eye(dof), - np.eye(dof)))
    g_actual = np.hstack((alim[:, 1], - alim[:, 0]))

    npt.assert_allclose(F, F_actual)
    npt.assert_allclose(g, g_actual)
    for i in range(0, N + 1):
        npt.assert_allclose(a[i], ps[i])
        npt.assert_allclose(b[i], pss[i])
        npt.assert_allclose(c[i], np.zeros_like(ps[i]))
        assert ubound is None
        assert xbound is None