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Removing using std::...

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Change-Id: I584402e2a34869183c1d59071a15d97b216c52fb
This commit is contained in:
Alexander Ivanov
2023-01-11 16:51:38 +00:00
parent e1ca3302af
commit 53df5ddcfd
47 changed files with 479 additions and 608 deletions
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internal/ceres/dynamic_numeric_diff_cost_function_test.cc
+38 -40
View File
@@ -38,8 +38,6 @@
namespace ceres::internal {
using std::vector;
const double kTolerance = 1e-6;
// Takes 2 parameter blocks:
@@ -74,8 +72,8 @@ class MyCostFunctor {
};
TEST(DynamicNumericdiffCostFunctionTest, TestResiduals) {
vector<double> param_block_0(10, 0.0);
vector<double> param_block_1(5, 0.0);
std::vector<double> param_block_0(10, 0.0);
std::vector<double> param_block_1(5, 0.0);
DynamicNumericDiffCostFunction<MyCostFunctor> cost_function(
new MyCostFunctor());
cost_function.AddParameterBlock(param_block_0.size());
@@ -83,8 +81,8 @@ TEST(DynamicNumericdiffCostFunctionTest, TestResiduals) {
cost_function.SetNumResiduals(21);
// Test residual computation.
vector<double> residuals(21, -100000);
vector<double*> parameter_blocks(2);
std::vector<double> residuals(21, -100000);
std::vector<double*> parameter_blocks(2);
parameter_blocks[0] = &param_block_0[0];
parameter_blocks[1] = &param_block_1[0];
EXPECT_TRUE(
@@ -98,11 +96,11 @@ TEST(DynamicNumericdiffCostFunctionTest, TestResiduals) {
TEST(DynamicNumericdiffCostFunctionTest, TestJacobian) {
// Test the residual counting.
vector<double> param_block_0(10, 0.0);
std::vector<double> param_block_0(10, 0.0);
for (int i = 0; i < 10; ++i) {
param_block_0[i] = 2 * i;
}
vector<double> param_block_1(5, 0.0);
std::vector<double> param_block_1(5, 0.0);
DynamicNumericDiffCostFunction<MyCostFunctor> cost_function(
new MyCostFunctor());
cost_function.AddParameterBlock(param_block_0.size());
@@ -110,18 +108,18 @@ TEST(DynamicNumericdiffCostFunctionTest, TestJacobian) {
cost_function.SetNumResiduals(21);
// Prepare the residuals.
vector<double> residuals(21, -100000);
std::vector<double> residuals(21, -100000);
// Prepare the parameters.
vector<double*> parameter_blocks(2);
std::vector<double*> parameter_blocks(2);
parameter_blocks[0] = &param_block_0[0];
parameter_blocks[1] = &param_block_1[0];
// Prepare the jacobian.
vector<vector<double>> jacobian_vect(2);
std::vector<std::vector<double>> jacobian_vect(2);
jacobian_vect[0].resize(21 * 10, -100000);
jacobian_vect[1].resize(21 * 5, -100000);
vector<double*> jacobian;
std::vector<double*> jacobian;
jacobian.push_back(jacobian_vect[0].data());
jacobian.push_back(jacobian_vect[1].data());
@@ -165,11 +163,11 @@ TEST(DynamicNumericdiffCostFunctionTest, TestJacobian) {
TEST(DynamicNumericdiffCostFunctionTest,
JacobianWithFirstParameterBlockConstant) { // NOLINT
// Test the residual counting.
vector<double> param_block_0(10, 0.0);
std::vector<double> param_block_0(10, 0.0);
for (int i = 0; i < 10; ++i) {
param_block_0[i] = 2 * i;
}
vector<double> param_block_1(5, 0.0);
std::vector<double> param_block_1(5, 0.0);
DynamicNumericDiffCostFunction<MyCostFunctor> cost_function(
new MyCostFunctor());
cost_function.AddParameterBlock(param_block_0.size());
@@ -177,18 +175,18 @@ TEST(DynamicNumericdiffCostFunctionTest,
cost_function.SetNumResiduals(21);
// Prepare the residuals.
vector<double> residuals(21, -100000);
std::vector<double> residuals(21, -100000);
// Prepare the parameters.
vector<double*> parameter_blocks(2);
std::vector<double*> parameter_blocks(2);
parameter_blocks[0] = &param_block_0[0];
parameter_blocks[1] = &param_block_1[0];
// Prepare the jacobian.
vector<vector<double>> jacobian_vect(2);
std::vector<std::vector<double>> jacobian_vect(2);
jacobian_vect[0].resize(21 * 10, -100000);
jacobian_vect[1].resize(21 * 5, -100000);
vector<double*> jacobian;
std::vector<double*> jacobian;
jacobian.push_back(nullptr);
jacobian.push_back(jacobian_vect[1].data());
@@ -215,11 +213,11 @@ TEST(DynamicNumericdiffCostFunctionTest,
TEST(DynamicNumericdiffCostFunctionTest,
JacobianWithSecondParameterBlockConstant) { // NOLINT
// Test the residual counting.
vector<double> param_block_0(10, 0.0);
std::vector<double> param_block_0(10, 0.0);
for (int i = 0; i < 10; ++i) {
param_block_0[i] = 2 * i;
}
vector<double> param_block_1(5, 0.0);
std::vector<double> param_block_1(5, 0.0);
DynamicNumericDiffCostFunction<MyCostFunctor> cost_function(
new MyCostFunctor());
cost_function.AddParameterBlock(param_block_0.size());
@@ -227,18 +225,18 @@ TEST(DynamicNumericdiffCostFunctionTest,
cost_function.SetNumResiduals(21);
// Prepare the residuals.
vector<double> residuals(21, -100000);
std::vector<double> residuals(21, -100000);
// Prepare the parameters.
vector<double*> parameter_blocks(2);
std::vector<double*> parameter_blocks(2);
parameter_blocks[0] = &param_block_0[0];
parameter_blocks[1] = &param_block_1[0];
// Prepare the jacobian.
vector<vector<double>> jacobian_vect(2);
std::vector<std::vector<double>> jacobian_vect(2);
jacobian_vect[0].resize(21 * 10, -100000);
jacobian_vect[1].resize(21 * 5, -100000);
vector<double*> jacobian;
std::vector<double*> jacobian;
jacobian.push_back(jacobian_vect[0].data());
jacobian.push_back(nullptr);
@@ -409,25 +407,25 @@ class ThreeParameterCostFunctorTest : public ::testing::Test {
}
protected:
vector<double> x_;
vector<double> y_;
vector<double> z_;
std::vector<double> x_;
std::vector<double> y_;
std::vector<double> z_;
vector<double*> parameter_blocks_;
std::vector<double*> parameter_blocks_;
std::unique_ptr<CostFunction> cost_function_;
vector<vector<double>> jacobian_vect_;
std::vector<std::vector<double>> jacobian_vect_;
vector<double> expected_residuals_;
std::vector<double> expected_residuals_;
vector<double> expected_jacobian_x_;
vector<double> expected_jacobian_y_;
vector<double> expected_jacobian_z_;
std::vector<double> expected_jacobian_x_;
std::vector<double> expected_jacobian_y_;
std::vector<double> expected_jacobian_z_;
};
TEST_F(ThreeParameterCostFunctorTest, TestThreeParameterResiduals) {
vector<double> residuals(7, -100000);
std::vector<double> residuals(7, -100000);
EXPECT_TRUE(cost_function_->Evaluate(
parameter_blocks_.data(), residuals.data(), nullptr));
for (int i = 0; i < 7; ++i) {
@@ -436,9 +434,9 @@ TEST_F(ThreeParameterCostFunctorTest, TestThreeParameterResiduals) {
}
TEST_F(ThreeParameterCostFunctorTest, TestThreeParameterJacobian) {
vector<double> residuals(7, -100000);
std::vector<double> residuals(7, -100000);
vector<double*> jacobian;
std::vector<double*> jacobian;
jacobian.push_back(jacobian_vect_[0].data());
jacobian.push_back(jacobian_vect_[1].data());
jacobian.push_back(jacobian_vect_[2].data());
@@ -465,9 +463,9 @@ TEST_F(ThreeParameterCostFunctorTest, TestThreeParameterJacobian) {
TEST_F(ThreeParameterCostFunctorTest,
ThreeParameterJacobianWithFirstAndLastParameterBlockConstant) {
vector<double> residuals(7, -100000);
std::vector<double> residuals(7, -100000);
vector<double*> jacobian;
std::vector<double*> jacobian;
jacobian.push_back(nullptr);
jacobian.push_back(jacobian_vect_[1].data());
jacobian.push_back(nullptr);
@@ -486,9 +484,9 @@ TEST_F(ThreeParameterCostFunctorTest,
TEST_F(ThreeParameterCostFunctorTest,
ThreeParameterJacobianWithSecondParameterBlockConstant) {
vector<double> residuals(7, -100000);
std::vector<double> residuals(7, -100000);
vector<double*> jacobian;
std::vector<double*> jacobian;
jacobian.push_back(jacobian_vect_[0].data());
jacobian.push_back(nullptr);
jacobian.push_back(jacobian_vect_[2].data());