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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/gradient_checking_cost_function_test.cc
+38 -36
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@@ -53,10 +53,10 @@ namespace ceres {
namespace internal {
using std::vector;
using testing::_;
using testing::AllOf;
using testing::AnyNumber;
using testing::HasSubstr;
using testing::_;
// Pick a (non-quadratic) function whose derivative are easy:
//
@@ -65,12 +65,12 @@ using testing::_;
//
// where 'a' is a vector of the same size as 'x'. In the block
// version, they are both block vectors, of course.
template<int bad_block = 1, int bad_variable = 2>
template <int bad_block = 1, int bad_variable = 2>
class TestTerm : public CostFunction {
public:
// The constructor of this function needs to know the number
// of blocks desired, and the size of each block.
TestTerm(int arity, int const *dim) : arity_(arity) {
TestTerm(int arity, int const* dim) : arity_(arity) {
// Make 'arity' random vectors.
a_.resize(arity_);
for (int j = 0; j < arity_; ++j) {
@@ -107,7 +107,7 @@ class TestTerm : public CostFunction {
if (jacobians[j]) {
for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
// See comments before class.
jacobians[j][u] = - f * a_[j][u];
jacobians[j][u] = -f * a_[j][u];
if (bad_block == j && bad_variable == u) {
// Whoopsiedoopsie! Deliberately introduce a faulty jacobian entry
@@ -135,7 +135,7 @@ TEST(GradientCheckingCostFunction, ResidualsAndJacobiansArePreservedTest) {
// Test with 3 blocks of size 2, 3 and 4.
int const arity = 3;
int const dim[arity] = { 2, 3, 4 };
int const dim[arity] = {2, 3, 4};
// Make a random set of blocks.
vector<double*> parameters(arity);
@@ -164,17 +164,16 @@ TEST(GradientCheckingCostFunction, ResidualsAndJacobiansArePreservedTest) {
TestTerm<-1, -1> term(arity, dim);
GradientCheckingIterationCallback callback;
std::unique_ptr<CostFunction> gradient_checking_cost_function(
CreateGradientCheckingCostFunction(&term, NULL,
CreateGradientCheckingCostFunction(&term,
NULL,
kRelativeStepSize,
kRelativePrecision,
"Ignored.", &callback));
term.Evaluate(&parameters[0],
&original_residual,
&original_jacobians[0]);
"Ignored.",
&callback));
term.Evaluate(&parameters[0], &original_residual, &original_jacobians[0]);
gradient_checking_cost_function->Evaluate(&parameters[0],
&residual,
&jacobians[0]);
gradient_checking_cost_function->Evaluate(
&parameters[0], &residual, &jacobians[0]);
EXPECT_EQ(original_residual, residual);
for (int j = 0; j < arity; j++) {
@@ -193,7 +192,7 @@ TEST(GradientCheckingCostFunction, SmokeTest) {
// Test with 3 blocks of size 2, 3 and 4.
int const arity = 3;
int const dim[arity] = { 2, 3, 4 };
int const dim[arity] = {2, 3, 4};
// Make a random set of blocks.
vector<double*> parameters(arity);
@@ -221,17 +220,18 @@ TEST(GradientCheckingCostFunction, SmokeTest) {
TestTerm<1, 2> term(arity, dim);
GradientCheckingIterationCallback callback;
std::unique_ptr<CostFunction> gradient_checking_cost_function(
CreateGradientCheckingCostFunction(&term, NULL,
CreateGradientCheckingCostFunction(&term,
NULL,
kRelativeStepSize,
kRelativePrecision,
"Fuzzy banana", &callback));
EXPECT_TRUE(
gradient_checking_cost_function->Evaluate(&parameters[0], &residual,
&jacobians[0]));
"Fuzzy banana",
&callback));
EXPECT_TRUE(gradient_checking_cost_function->Evaluate(
&parameters[0], &residual, &jacobians[0]));
EXPECT_TRUE(callback.gradient_error_detected());
EXPECT_TRUE(callback.error_log().find("Fuzzy banana") != std::string::npos);
EXPECT_TRUE(callback.error_log().find("(1,0,2) Relative error worse than")
!= std::string::npos);
EXPECT_TRUE(callback.error_log().find(
"(1,0,2) Relative error worse than") != std::string::npos);
}
// The gradient is correct, so no errors are reported.
@@ -240,13 +240,14 @@ TEST(GradientCheckingCostFunction, SmokeTest) {
TestTerm<-1, -1> term(arity, dim);
GradientCheckingIterationCallback callback;
std::unique_ptr<CostFunction> gradient_checking_cost_function(
CreateGradientCheckingCostFunction(&term, NULL,
CreateGradientCheckingCostFunction(&term,
NULL,
kRelativeStepSize,
kRelativePrecision,
"Fuzzy banana", &callback));
EXPECT_TRUE(
gradient_checking_cost_function->Evaluate(&parameters[0], &residual,
&jacobians[0]));
"Fuzzy banana",
&callback));
EXPECT_TRUE(gradient_checking_cost_function->Evaluate(
&parameters[0], &residual, &jacobians[0]));
EXPECT_FALSE(callback.gradient_error_detected());
}
@@ -279,7 +280,7 @@ class UnaryCostFunction : public CostFunction {
};
// Trivial cost function that accepts two arguments.
class BinaryCostFunction: public CostFunction {
class BinaryCostFunction : public CostFunction {
public:
BinaryCostFunction(int num_residuals,
int32_t parameter_block1_size,
@@ -300,7 +301,7 @@ class BinaryCostFunction: public CostFunction {
};
// Trivial cost function that accepts three arguments.
class TernaryCostFunction: public CostFunction {
class TernaryCostFunction : public CostFunction {
public:
TernaryCostFunction(int num_residuals,
int32_t parameter_block1_size,
@@ -324,7 +325,7 @@ class TernaryCostFunction: public CostFunction {
// Verify that the two ParameterBlocks are formed from the same user
// array and have the same LocalParameterization object.
static void ParameterBlocksAreEquivalent(const ParameterBlock* left,
static void ParameterBlocksAreEquivalent(const ParameterBlock* left,
const ParameterBlock* right) {
CHECK(left != nullptr);
CHECK(right != nullptr);
@@ -349,8 +350,10 @@ TEST(GradientCheckingProblemImpl, ProblemDimensionsMatch) {
problem_impl.SetParameterBlockConstant(y);
problem_impl.AddParameterBlock(z, 5);
problem_impl.AddParameterBlock(w, 4, new QuaternionParameterization);
problem_impl.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
problem_impl.AddResidualBlock(new BinaryCostFunction(6, 5, 4) ,
// clang-format off
problem_impl.AddResidualBlock(new UnaryCostFunction(2, 3),
NULL, x);
problem_impl.AddResidualBlock(new BinaryCostFunction(6, 5, 4),
NULL, z, y);
problem_impl.AddResidualBlock(new BinaryCostFunction(3, 3, 5),
new TrivialLoss, x, z);
@@ -358,6 +361,7 @@ TEST(GradientCheckingProblemImpl, ProblemDimensionsMatch) {
NULL, z, x);
problem_impl.AddResidualBlock(new TernaryCostFunction(1, 5, 3, 4),
NULL, z, x, y);
// clang-format on
GradientCheckingIterationCallback callback;
std::unique_ptr<ProblemImpl> gradient_checking_problem_impl(
@@ -392,8 +396,7 @@ TEST(GradientCheckingProblemImpl, ProblemDimensionsMatch) {
for (int i = 0; i < program.residual_blocks().size(); ++i) {
// Compare the sizes of the two ResidualBlocks.
const ResidualBlock* original_residual_block =
program.residual_blocks()[i];
const ResidualBlock* original_residual_block = program.residual_blocks()[i];
const ResidualBlock* new_residual_block =
gradient_checking_program.residual_blocks()[i];
EXPECT_EQ(original_residual_block->NumParameterBlocks(),
@@ -412,15 +415,14 @@ TEST(GradientCheckingProblemImpl, ProblemDimensionsMatch) {
}
}
TEST(GradientCheckingProblemImpl, ConstrainedProblemBoundsArePropagated) {
// Parameter blocks with arbitrarily chosen initial values.
double x[] = {1.0, 2.0, 3.0};
ProblemImpl problem_impl;
problem_impl.AddParameterBlock(x, 3);
problem_impl.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
problem_impl.SetParameterLowerBound(x,0,0.9);
problem_impl.SetParameterUpperBound(x,1,2.5);
problem_impl.SetParameterLowerBound(x, 0, 0.9);
problem_impl.SetParameterUpperBound(x, 1, 2.5);
GradientCheckingIterationCallback callback;
std::unique_ptr<ProblemImpl> gradient_checking_problem_impl(