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Let NumericDiffFirstOrderFunction take a dynamically sized parameter vector

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Also fix a template naming lint along the way.

Change-Id: Iabb98aeec2ff9609a19c3778b9ea2da37771c985
This commit is contained in:
Sameer Agarwal
2022-09-15 15:10:13 -07:00
committed by Sameer Agarwal
parent 6c27ac6d50
commit 4cd257cf4a
5 changed files with 129 additions and 29 deletions
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internal/ceres/numeric_diff_first_order_function_test.cc
+28 -4
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@@ -50,10 +50,34 @@ class QuadraticCostFunctor {
double a_;
};
TEST(NumericDiffFirstOrderFunction, BilinearDifferentiationTest) {
std::unique_ptr<FirstOrderFunction> function(
new NumericDiffFirstOrderFunction<QuadraticCostFunctor, CENTRAL, 4>(
new QuadraticCostFunctor(1.0)));
TEST(NumericDiffFirstOrderFunction, BilinearDifferentiationTestStatic) {
auto function = std::make_unique<
NumericDiffFirstOrderFunction<QuadraticCostFunctor, CENTRAL, 4>>(
new QuadraticCostFunctor(1.0));
double parameters[4] = {1.0, 2.0, 3.0, 4.0};
double gradient[4];
double cost;
function->Evaluate(parameters, &cost, nullptr);
EXPECT_EQ(cost, 13.0);
cost = -1.0;
function->Evaluate(parameters, &cost, gradient);
EXPECT_EQ(cost, 13.0);
const double kTolerance = 1e-9;
EXPECT_NEAR(gradient[0], parameters[1], kTolerance);
EXPECT_NEAR(gradient[1], parameters[0], kTolerance);
EXPECT_NEAR(gradient[2], parameters[3], kTolerance);
EXPECT_NEAR(gradient[3], parameters[2], kTolerance);
}
TEST(NumericDiffFirstOrderFunction, BilinearDifferentiationTestDynamic) {
auto function = std::make_unique<
NumericDiffFirstOrderFunction<QuadraticCostFunctor, CENTRAL>>(
new QuadraticCostFunctor(1.0), 4);
double parameters[4] = {1.0, 2.0, 3.0, 4.0};
double gradient[4];