NumericDiffFunctor.

A wrapper class that takes a variadic functor evaluating a function, numerically differentiates it and makes it available as a templated functor so that it can be easily used as part of Ceres' automatic differentiation framework. The tests for NumericDiffCostFunction and NumericDiffFunctor have a lot of stuff that is common, so refactor them to reduce code. Change-Id: I83b01e58b05e575fb2530d15cbd611928298646a
2026-08-30 09:00:37 +08:00 · 2013-01-18 13:11:32 -08:00
parent 2fc0ed6143
commit 2f0d7249cc
6 changed files with 726 additions and 190 deletions
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2013 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/numeric_diff_functor.h"
+
+#include <algorithm>
+#include <cmath>
+#include <string>
+#include <vector>
+#include "ceres/autodiff_cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/numeric_diff_test_utils.h"
+#include "ceres/test_util.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(NumericDiffCostFunction, EasyCaseCentralDifferences) {
+  typedef NumericDiffFunctor<EasyFunctor, CENTRAL, 3, 5, 5> NumericDiffEasyFunctor;
+
+  internal::scoped_ptr<CostFunction> cost_function;
+  EasyFunctor functor;
+
+  cost_function.reset(
+      new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
+          new NumericDiffEasyFunctor));
+
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
+
+  cost_function.reset(
+      new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
+          new NumericDiffEasyFunctor(new EasyFunctor)));
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
+}
+
+TEST(NumericDiffCostFunction, EasyCaseForwardDifferences) {
+  typedef NumericDiffFunctor<EasyFunctor, FORWARD, 3, 5, 5> NumericDiffEasyFunctor;
+
+  internal::scoped_ptr<CostFunction> cost_function;
+  EasyFunctor functor;
+
+  cost_function.reset(
+      new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
+          new NumericDiffEasyFunctor));
+
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
+
+  cost_function.reset(
+      new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
+          new NumericDiffEasyFunctor(new EasyFunctor)));
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
+}
+
+TEST(NumericDiffCostFunction, TranscendentalCaseCentralDifferences) {
+  typedef NumericDiffFunctor<TranscendentalFunctor, CENTRAL, 2, 5, 5>
+      NumericDiffTranscendentalFunctor;
+
+  internal::scoped_ptr<CostFunction> cost_function;
+  TranscendentalFunctor functor;
+
+  cost_function.reset(
+      new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
+          new NumericDiffTranscendentalFunctor));
+
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
+
+  cost_function.reset(
+      new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
+          new NumericDiffTranscendentalFunctor(new TranscendentalFunctor)));
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
+}
+
+TEST(NumericDiffCostFunction, TranscendentalCaseForwardDifferences) {
+  typedef NumericDiffFunctor<TranscendentalFunctor, FORWARD, 2, 5, 5>
+      NumericDiffTranscendentalFunctor;
+
+  internal::scoped_ptr<CostFunction> cost_function;
+  TranscendentalFunctor functor;
+
+  cost_function.reset(
+      new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
+          new NumericDiffTranscendentalFunctor));
+
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
+
+  cost_function.reset(
+      new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
+          new NumericDiffTranscendentalFunctor(new TranscendentalFunctor)));
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
+}
+
+}  // namespace internal
+}  // namespace ceres