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fix formatting for (non-generated) internal source files

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- Change formatting standard to Cpp11. Main difference is not having
  the space between two closing >> for nested templates. We don't
  choose c++14, because older versions of clang-format (version 9
  and earlier) don't know this value yet, and it doesn't make a
  difference in the formatting.
- Apply clang-format to all (non generated) internal source files.
- Manually fix some code sections (clang-format on/off) and c-strings
- Exclude some embedded external files with very different formatting
  (gtest/gmock)
- Add script to format all source files

Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
This commit is contained in:
Nikolaus Demmel
2020-09-20 21:45:24 +02:00
parent 921368ce31
commit 7b8f675bfd
272 changed files with 3449 additions and 3319 deletions
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internal/ceres/dynamic_autodiff_cost_function_test.cc
+45 -56
View File
@@ -30,10 +30,11 @@
// mierle@gmail.com (Keir Mierle)
// sameeragarwal@google.com (Sameer Agarwal)
#include <cstddef>
#include <memory>
#include "ceres/dynamic_autodiff_cost_function.h"
#include <cstddef>
#include <memory>
#include "gtest/gtest.h"
namespace ceres {
@@ -87,9 +88,8 @@ TEST(DynamicAutodiffCostFunctionTest, TestResiduals) {
vector<double*> parameter_blocks(2);
parameter_blocks[0] = &param_block_0[0];
parameter_blocks[1] = &param_block_1[0];
EXPECT_TRUE(cost_function.Evaluate(&parameter_blocks[0],
residuals.data(),
NULL));
EXPECT_TRUE(
cost_function.Evaluate(&parameter_blocks[0], residuals.data(), NULL));
for (int r = 0; r < 10; ++r) {
EXPECT_EQ(1.0 * r, residuals.at(r * 2));
EXPECT_EQ(-1.0 * r, residuals.at(r * 2 + 1));
@@ -127,9 +127,8 @@ TEST(DynamicAutodiffCostFunctionTest, TestJacobian) {
jacobian.push_back(jacobian_vect[1].data());
// Test jacobian computation.
EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
residuals.data(),
jacobian.data()));
EXPECT_TRUE(cost_function.Evaluate(
parameter_blocks.data(), residuals.data(), jacobian.data()));
for (int r = 0; r < 10; ++r) {
EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
@@ -138,11 +137,11 @@ TEST(DynamicAutodiffCostFunctionTest, TestJacobian) {
EXPECT_EQ(420, residuals.at(20));
for (int p = 0; p < 10; ++p) {
// Check "A" Jacobian.
EXPECT_EQ(-1.0, jacobian_vect[0][2*p * 10 + p]);
EXPECT_EQ(-1.0, jacobian_vect[0][2 * p * 10 + p]);
// Check "B" Jacobian.
EXPECT_EQ(+1.0, jacobian_vect[0][(2*p+1) * 10 + p]);
jacobian_vect[0][2*p * 10 + p] = 0.0;
jacobian_vect[0][(2*p+1) * 10 + p] = 0.0;
EXPECT_EQ(+1.0, jacobian_vect[0][(2 * p + 1) * 10 + p]);
jacobian_vect[0][2 * p * 10 + p] = 0.0;
jacobian_vect[0][(2 * p + 1) * 10 + p] = 0.0;
}
// Check "C" Jacobian for first parameter block.
@@ -194,9 +193,8 @@ TEST(DynamicAutodiffCostFunctionTest, JacobianWithFirstParameterBlockConstant) {
jacobian.push_back(jacobian_vect[1].data());
// Test jacobian computation.
EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
residuals.data(),
jacobian.data()));
EXPECT_TRUE(cost_function.Evaluate(
parameter_blocks.data(), residuals.data(), jacobian.data()));
for (int r = 0; r < 10; ++r) {
EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
@@ -214,7 +212,8 @@ TEST(DynamicAutodiffCostFunctionTest, JacobianWithFirstParameterBlockConstant) {
}
}
TEST(DynamicAutodiffCostFunctionTest, JacobianWithSecondParameterBlockConstant) { // NOLINT
TEST(DynamicAutodiffCostFunctionTest,
JacobianWithSecondParameterBlockConstant) { // NOLINT
// Test the residual counting.
vector<double> param_block_0(10, 0.0);
for (int i = 0; i < 10; ++i) {
@@ -244,9 +243,8 @@ TEST(DynamicAutodiffCostFunctionTest, JacobianWithSecondParameterBlockConstant)
jacobian.push_back(NULL);
// Test jacobian computation.
EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
residuals.data(),
jacobian.data()));
EXPECT_TRUE(cost_function.Evaluate(
parameter_blocks.data(), residuals.data(), jacobian.data()));
for (int r = 0; r < 10; ++r) {
EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
@@ -255,11 +253,11 @@ TEST(DynamicAutodiffCostFunctionTest, JacobianWithSecondParameterBlockConstant)
EXPECT_EQ(420, residuals.at(20));
for (int p = 0; p < 10; ++p) {
// Check "A" Jacobian.
EXPECT_EQ(-1.0, jacobian_vect[0][2*p * 10 + p]);
EXPECT_EQ(-1.0, jacobian_vect[0][2 * p * 10 + p]);
// Check "B" Jacobian.
EXPECT_EQ(+1.0, jacobian_vect[0][(2*p+1) * 10 + p]);
jacobian_vect[0][2*p * 10 + p] = 0.0;
jacobian_vect[0][(2*p+1) * 10 + p] = 0.0;
EXPECT_EQ(+1.0, jacobian_vect[0][(2 * p + 1) * 10 + p]);
jacobian_vect[0][2 * p * 10 + p] = 0.0;
jacobian_vect[0][(2 * p + 1) * 10 + p] = 0.0;
}
// Check "C" Jacobian for first parameter block.
@@ -330,10 +328,10 @@ class ThreeParameterCostFunctorTest : public ::testing::Test {
// Prepare the cost function.
typedef DynamicAutoDiffCostFunction<MyThreeParameterCostFunctor, 3>
DynamicMyThreeParameterCostFunction;
DynamicMyThreeParameterCostFunction * cost_function =
new DynamicMyThreeParameterCostFunction(
new MyThreeParameterCostFunctor());
DynamicMyThreeParameterCostFunction;
DynamicMyThreeParameterCostFunction* cost_function =
new DynamicMyThreeParameterCostFunction(
new MyThreeParameterCostFunctor());
cost_function->AddParameterBlock(1);
cost_function->AddParameterBlock(2);
cost_function->AddParameterBlock(3);
@@ -431,9 +429,8 @@ class ThreeParameterCostFunctorTest : public ::testing::Test {
TEST_F(ThreeParameterCostFunctorTest, TestThreeParameterResiduals) {
vector<double> residuals(7, -100000);
EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
residuals.data(),
NULL));
EXPECT_TRUE(cost_function_->Evaluate(
parameter_blocks_.data(), residuals.data(), NULL));
for (int i = 0; i < 7; ++i) {
EXPECT_EQ(expected_residuals_[i], residuals[i]);
}
@@ -447,9 +444,8 @@ TEST_F(ThreeParameterCostFunctorTest, TestThreeParameterJacobian) {
jacobian.push_back(jacobian_vect_[1].data());
jacobian.push_back(jacobian_vect_[2].data());
EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
residuals.data(),
jacobian.data()));
EXPECT_TRUE(cost_function_->Evaluate(
parameter_blocks_.data(), residuals.data(), jacobian.data()));
for (int i = 0; i < 7; ++i) {
EXPECT_EQ(expected_residuals_[i], residuals[i]);
@@ -477,9 +473,8 @@ TEST_F(ThreeParameterCostFunctorTest,
jacobian.push_back(jacobian_vect_[1].data());
jacobian.push_back(NULL);
EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
residuals.data(),
jacobian.data()));
EXPECT_TRUE(cost_function_->Evaluate(
parameter_blocks_.data(), residuals.data(), jacobian.data()));
for (int i = 0; i < 7; ++i) {
EXPECT_EQ(expected_residuals_[i], residuals[i]);
@@ -499,9 +494,8 @@ TEST_F(ThreeParameterCostFunctorTest,
jacobian.push_back(NULL);
jacobian.push_back(jacobian_vect_[2].data());
EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
residuals.data(),
jacobian.data()));
EXPECT_TRUE(cost_function_->Evaluate(
parameter_blocks_.data(), residuals.data(), jacobian.data()));
for (int i = 0; i < 7; ++i) {
EXPECT_EQ(expected_residuals_[i], residuals[i]);
@@ -567,10 +561,9 @@ class SixParameterCostFunctorTest : public ::testing::Test {
// Prepare the cost function.
typedef DynamicAutoDiffCostFunction<MySixParameterCostFunctor, 3>
DynamicMySixParameterCostFunction;
DynamicMySixParameterCostFunction * cost_function =
new DynamicMySixParameterCostFunction(
new MySixParameterCostFunctor());
DynamicMySixParameterCostFunction;
DynamicMySixParameterCostFunction* cost_function =
new DynamicMySixParameterCostFunction(new MySixParameterCostFunctor());
for (int i = 0; i < 6; ++i) {
cost_function->AddParameterBlock(1);
}
@@ -675,9 +668,8 @@ class SixParameterCostFunctorTest : public ::testing::Test {
TEST_F(SixParameterCostFunctorTest, TestSixParameterResiduals) {
vector<double> residuals(7, -100000);
EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
residuals.data(),
NULL));
EXPECT_TRUE(cost_function_->Evaluate(
parameter_blocks_.data(), residuals.data(), NULL));
for (int i = 0; i < 7; ++i) {
EXPECT_EQ(expected_residuals_[i], residuals[i]);
}
@@ -694,9 +686,8 @@ TEST_F(SixParameterCostFunctorTest, TestSixParameterJacobian) {
jacobian.push_back(jacobian_vect_[4].data());
jacobian.push_back(jacobian_vect_[5].data());
EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
residuals.data(),
jacobian.data()));
EXPECT_TRUE(cost_function_->Evaluate(
parameter_blocks_.data(), residuals.data(), jacobian.data()));
for (int i = 0; i < 7; ++i) {
EXPECT_EQ(expected_residuals_[i], residuals[i]);
@@ -720,9 +711,8 @@ TEST_F(SixParameterCostFunctorTest, TestSixParameterJacobianVVCVVC) {
jacobian.push_back(jacobian_vect_[4].data());
jacobian.push_back(NULL);
EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
residuals.data(),
jacobian.data()));
EXPECT_TRUE(cost_function_->Evaluate(
parameter_blocks_.data(), residuals.data(), jacobian.data()));
for (int i = 0; i < 7; ++i) {
EXPECT_EQ(expected_residuals_[i], residuals[i]);
@@ -751,9 +741,8 @@ TEST_F(SixParameterCostFunctorTest, TestSixParameterJacobianVCCVCV) {
jacobian.push_back(NULL);
jacobian.push_back(jacobian_vect_[5].data());
EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
residuals.data(),
jacobian.data()));
EXPECT_TRUE(cost_function_->Evaluate(
parameter_blocks_.data(), residuals.data(), jacobian.data()));
for (int i = 0; i < 7; ++i) {
EXPECT_EQ(expected_residuals_[i], residuals[i]);