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ClangTidy cleanups

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1. NULL -> nullptr
2. foo.reset(new Bar) -> = foo = std::make_unique<Bar>()
3. Missing std library includes & prefixes

Change-Id: I260b261b484554be681ee5a7398126fdb3b3a789
This commit is contained in:
Sameer Agarwal
2022-02-02 13:17:29 -08:00
parent a35bd1bf90
commit ae65219e04
171 changed files with 1191 additions and 1148 deletions
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internal/ceres/numeric_diff_cost_function_test.cc
+171 -173
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@@ -49,100 +49,102 @@ namespace ceres {
namespace internal {
TEST(NumericDiffCostFunction, EasyCaseFunctorCentralDifferences) {
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(new NumericDiffCostFunction<EasyFunctor,
CENTRAL,
3, // number of residuals
5, // size of x1
5 // size of x2
>(new EasyFunctor));
auto cost_function =
std::make_unique<NumericDiffCostFunction<EasyFunctor,
CENTRAL,
3, // number of residuals
5, // size of x1
5 // size of x2
>>(new EasyFunctor);
EasyFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
}
TEST(NumericDiffCostFunction, EasyCaseFunctorForwardDifferences) {
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(new NumericDiffCostFunction<EasyFunctor,
FORWARD,
3, // number of residuals
5, // size of x1
5 // size of x2
>(new EasyFunctor));
auto cost_function =
std::make_unique<NumericDiffCostFunction<EasyFunctor,
FORWARD,
3, // number of residuals
5, // size of x1
5 // size of x2
>>(new EasyFunctor);
EasyFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
}
TEST(NumericDiffCostFunction, EasyCaseFunctorRidders) {
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(new NumericDiffCostFunction<EasyFunctor,
RIDDERS,
3, // number of residuals
5, // size of x1
5 // size of x2
>(new EasyFunctor));
auto cost_function =
std::make_unique<NumericDiffCostFunction<EasyFunctor,
RIDDERS,
3, // number of residuals
5, // size of x1
5 // size of x2
>>(new EasyFunctor);
EasyFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, RIDDERS);
}
TEST(NumericDiffCostFunction, EasyCaseCostFunctionCentralDifferences) {
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<EasyCostFunction,
CENTRAL,
3, // number of residuals
5, // size of x1
5 // size of x2
>(new EasyCostFunction, TAKE_OWNERSHIP));
auto cost_function =
std::make_unique<NumericDiffCostFunction<EasyCostFunction,
CENTRAL,
3, // number of residuals
5, // size of x1
5 // size of x2
>>(new EasyCostFunction,
TAKE_OWNERSHIP);
EasyFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
}
TEST(NumericDiffCostFunction, EasyCaseCostFunctionForwardDifferences) {
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<EasyCostFunction,
FORWARD,
3, // number of residuals
5, // size of x1
5 // size of x2
>(new EasyCostFunction, TAKE_OWNERSHIP));
auto cost_function =
std::make_unique<NumericDiffCostFunction<EasyCostFunction,
FORWARD,
3, // number of residuals
5, // size of x1
5 // size of x2
>>(new EasyCostFunction,
TAKE_OWNERSHIP);
EasyFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
}
TEST(NumericDiffCostFunction, EasyCaseCostFunctionRidders) {
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<EasyCostFunction,
RIDDERS,
3, // number of residuals
5, // size of x1
5 // size of x2
>(new EasyCostFunction, TAKE_OWNERSHIP));
auto cost_function =
std::make_unique<NumericDiffCostFunction<EasyCostFunction,
RIDDERS,
3, // number of residuals
5, // size of x1
5 // size of x2
>>(new EasyCostFunction,
TAKE_OWNERSHIP);
EasyFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, RIDDERS);
}
TEST(NumericDiffCostFunction, TranscendentalCaseFunctorCentralDifferences) {
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(new NumericDiffCostFunction<TranscendentalFunctor,
CENTRAL,
2, // number of residuals
5, // size of x1
5 // size of x2
>(new TranscendentalFunctor));
auto cost_function =
std::make_unique<NumericDiffCostFunction<TranscendentalFunctor,
CENTRAL,
2, // number of residuals
5, // size of x1
5 // size of x2
>>(new TranscendentalFunctor);
TranscendentalFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
}
TEST(NumericDiffCostFunction, TranscendentalCaseFunctorForwardDifferences) {
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(new NumericDiffCostFunction<TranscendentalFunctor,
FORWARD,
2, // number of residuals
5, // size of x1
5 // size of x2
>(new TranscendentalFunctor));
auto cost_function =
std::make_unique<NumericDiffCostFunction<TranscendentalFunctor,
FORWARD,
2, // number of residuals
5, // size of x1
5 // size of x2
>>(new TranscendentalFunctor);
TranscendentalFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
}
@@ -153,43 +155,43 @@ TEST(NumericDiffCostFunction, TranscendentalCaseFunctorRidders) {
// Using a smaller initial step size to overcome oscillatory function
// behavior.
options.ridders_relative_initial_step_size = 1e-3;
auto cost_function =
std::make_unique<NumericDiffCostFunction<TranscendentalFunctor,
RIDDERS,
2, // number of residuals
5, // size of x1
5 // size of x2
>>(
new TranscendentalFunctor, TAKE_OWNERSHIP, 2, options);
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(new NumericDiffCostFunction<TranscendentalFunctor,
RIDDERS,
2, // number of residuals
5, // size of x1
5 // size of x2
>(
new TranscendentalFunctor, TAKE_OWNERSHIP, 2, options));
TranscendentalFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, RIDDERS);
}
TEST(NumericDiffCostFunction,
TranscendentalCaseCostFunctionCentralDifferences) {
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(new NumericDiffCostFunction<TranscendentalCostFunction,
CENTRAL,
2, // number of residuals
5, // size of x1
5 // size of x2
>(
new TranscendentalCostFunction, TAKE_OWNERSHIP));
auto cost_function =
std::make_unique<NumericDiffCostFunction<TranscendentalCostFunction,
CENTRAL,
2, // number of residuals
5, // size of x1
5 // size of x2
>>(
new TranscendentalCostFunction, TAKE_OWNERSHIP);
TranscendentalFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
}
TEST(NumericDiffCostFunction,
TranscendentalCaseCostFunctionForwardDifferences) {
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(new NumericDiffCostFunction<TranscendentalCostFunction,
FORWARD,
2, // number of residuals
5, // size of x1
5 // size of x2
>(
new TranscendentalCostFunction, TAKE_OWNERSHIP));
auto cost_function =
std::make_unique<NumericDiffCostFunction<TranscendentalCostFunction,
FORWARD,
2, // number of residuals
5, // size of x1
5 // size of x2
>>(
new TranscendentalCostFunction, TAKE_OWNERSHIP);
TranscendentalFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
}
@@ -201,14 +203,14 @@ TEST(NumericDiffCostFunction, TranscendentalCaseCostFunctionRidders) {
// behavior.
options.ridders_relative_initial_step_size = 1e-3;
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(new NumericDiffCostFunction<TranscendentalCostFunction,
RIDDERS,
2, // number of residuals
5, // size of x1
5 // size of x2
>(
new TranscendentalCostFunction, TAKE_OWNERSHIP, 2, options));
auto cost_function =
std::make_unique<NumericDiffCostFunction<TranscendentalCostFunction,
RIDDERS,
2, // number of residuals
5, // size of x1
5 // size of x2
>>(
new TranscendentalCostFunction, TAKE_OWNERSHIP, 2, options);
TranscendentalFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, RIDDERS);
}
@@ -230,121 +232,120 @@ class SizeTestingCostFunction : public SizedCostFunction<num_rows, num_cols> {
// templates are instantiated for various shapes of the Jacobian
// matrix.
TEST(NumericDiffCostFunction, EigenRowMajorColMajorTest) {
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<SizeTestingCostFunction<1, 1>, CENTRAL, 1, 1>(
new SizeTestingCostFunction<1, 1>, ceres::TAKE_OWNERSHIP));
std::unique_ptr<CostFunction> cost_function = std::make_unique<
NumericDiffCostFunction<SizeTestingCostFunction<1, 1>, CENTRAL, 1, 1>>(
new SizeTestingCostFunction<1, 1>, ceres::TAKE_OWNERSHIP);
cost_function.reset(
new NumericDiffCostFunction<SizeTestingCostFunction<2, 1>, CENTRAL, 2, 1>(
new SizeTestingCostFunction<2, 1>, ceres::TAKE_OWNERSHIP));
cost_function = std::make_unique<
NumericDiffCostFunction<SizeTestingCostFunction<2, 1>, CENTRAL, 2, 1>>(
new SizeTestingCostFunction<2, 1>, ceres::TAKE_OWNERSHIP);
cost_function.reset(
new NumericDiffCostFunction<SizeTestingCostFunction<1, 2>, CENTRAL, 1, 2>(
new SizeTestingCostFunction<1, 2>, ceres::TAKE_OWNERSHIP));
cost_function = std::make_unique<
NumericDiffCostFunction<SizeTestingCostFunction<1, 2>, CENTRAL, 1, 2>>(
new SizeTestingCostFunction<1, 2>, ceres::TAKE_OWNERSHIP);
cost_function.reset(
new NumericDiffCostFunction<SizeTestingCostFunction<2, 2>, CENTRAL, 2, 2>(
new SizeTestingCostFunction<2, 2>, ceres::TAKE_OWNERSHIP));
cost_function = std::make_unique<
NumericDiffCostFunction<SizeTestingCostFunction<2, 2>, CENTRAL, 2, 2>>(
new SizeTestingCostFunction<2, 2>, ceres::TAKE_OWNERSHIP);
cost_function.reset(
new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 1>(
new EasyFunctor, TAKE_OWNERSHIP, 1));
cost_function = std::make_unique<
NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 1>>(
new EasyFunctor, TAKE_OWNERSHIP, 1);
cost_function.reset(
new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 1>(
new EasyFunctor, TAKE_OWNERSHIP, 2));
cost_function = std::make_unique<
NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 1>>(
new EasyFunctor, TAKE_OWNERSHIP, 2);
cost_function.reset(
new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 2>(
new EasyFunctor, TAKE_OWNERSHIP, 1));
cost_function = std::make_unique<
NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 2>>(
new EasyFunctor, TAKE_OWNERSHIP, 1);
cost_function.reset(
new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 2>(
new EasyFunctor, TAKE_OWNERSHIP, 2));
cost_function = std::make_unique<
NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 2>>(
new EasyFunctor, TAKE_OWNERSHIP, 2);
cost_function.reset(
new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 2, 1>(
new EasyFunctor, TAKE_OWNERSHIP, 1));
cost_function = std::make_unique<
NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 2, 1>>(
new EasyFunctor, TAKE_OWNERSHIP, 1);
cost_function.reset(
new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 2, 1>(
new EasyFunctor, TAKE_OWNERSHIP, 2));
cost_function = std::make_unique<
NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 2, 1>>(
new EasyFunctor, TAKE_OWNERSHIP, 2);
}
TEST(NumericDiffCostFunction,
EasyCaseFunctorCentralDifferencesAndDynamicNumResiduals) {
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<EasyFunctor,
CENTRAL,
ceres::DYNAMIC,
5, // size of x1
5 // size of x2
>(new EasyFunctor, TAKE_OWNERSHIP, 3));
auto cost_function =
std::make_unique<NumericDiffCostFunction<EasyFunctor,
CENTRAL,
ceres::DYNAMIC,
5, // size of x1
5 // size of x2
>>(
new EasyFunctor, TAKE_OWNERSHIP, 3);
EasyFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
}
TEST(NumericDiffCostFunction, ExponentialFunctorRidders) {
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(new NumericDiffCostFunction<ExponentialFunctor,
RIDDERS,
1, // number of residuals
1 // size of x1
>(new ExponentialFunctor));
auto cost_function =
std::make_unique<NumericDiffCostFunction<ExponentialFunctor,
RIDDERS,
1, // number of residuals
1 // size of x1
>>(new ExponentialFunctor);
ExponentialFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function);
}
TEST(NumericDiffCostFunction, ExponentialCostFunctionRidders) {
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(
new NumericDiffCostFunction<ExponentialCostFunction,
RIDDERS,
1, // number of residuals
1 // size of x1
>(new ExponentialCostFunction));
auto cost_function =
std::make_unique<NumericDiffCostFunction<ExponentialCostFunction,
RIDDERS,
1, // number of residuals
1 // size of x1
>>(new ExponentialCostFunction);
ExponentialFunctor functor;
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function);
}
TEST(NumericDiffCostFunction, RandomizedFunctorRidders) {
std::unique_ptr<CostFunction> cost_function;
NumericDiffOptions options;
// Larger initial step size is chosen to produce robust results in the
// presence of random noise.
options.ridders_relative_initial_step_size = 10.0;
cost_function.reset(new NumericDiffCostFunction<RandomizedFunctor,
RIDDERS,
1, // number of residuals
1 // size of x1
>(
new RandomizedFunctor(kNoiseFactor, kRandomSeed),
TAKE_OWNERSHIP,
1,
options));
auto cost_function =
std::make_unique<NumericDiffCostFunction<RandomizedFunctor,
RIDDERS,
1, // number of residuals
1 // size of x1
>>(
new RandomizedFunctor(kNoiseFactor, kRandomSeed),
TAKE_OWNERSHIP,
1,
options);
RandomizedFunctor functor(kNoiseFactor, kRandomSeed);
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function);
}
TEST(NumericDiffCostFunction, RandomizedCostFunctionRidders) {
std::unique_ptr<CostFunction> cost_function;
NumericDiffOptions options;
// Larger initial step size is chosen to produce robust results in the
// presence of random noise.
options.ridders_relative_initial_step_size = 10.0;
cost_function.reset(new NumericDiffCostFunction<RandomizedCostFunction,
RIDDERS,
1, // number of residuals
1 // size of x1
>(
new RandomizedCostFunction(kNoiseFactor, kRandomSeed),
TAKE_OWNERSHIP,
1,
options));
auto cost_function =
std::make_unique<NumericDiffCostFunction<RandomizedCostFunction,
RIDDERS,
1, // number of residuals
1 // size of x1
>>(
new RandomizedCostFunction(kNoiseFactor, kRandomSeed),
TAKE_OWNERSHIP,
1,
options);
RandomizedFunctor functor(kNoiseFactor, kRandomSeed);
functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function);
}
@@ -363,15 +364,15 @@ TEST(NumericDiffCostFunction, PartiallyFilledResidualShouldFailEvaluation) {
double* parameters[] = {&parameter};
double* jacobians[] = {jacobian};
std::unique_ptr<CostFunction> cost_function(
new NumericDiffCostFunction<OnlyFillsOneOutputFunctor, CENTRAL, 2, 1>(
new OnlyFillsOneOutputFunctor));
auto cost_function = std::make_unique<
NumericDiffCostFunction<OnlyFillsOneOutputFunctor, CENTRAL, 2, 1>>(
new OnlyFillsOneOutputFunctor);
InvalidateArray(2, jacobian);
InvalidateArray(2, residuals);
EXPECT_TRUE(cost_function->Evaluate(parameters, residuals, jacobians));
EXPECT_FALSE(IsArrayValid(2, residuals));
InvalidateArray(2, residuals);
EXPECT_TRUE(cost_function->Evaluate(parameters, residuals, NULL));
EXPECT_TRUE(cost_function->Evaluate(parameters, residuals, nullptr));
// We are only testing residuals here, because the Jacobians are
// computed using finite differencing from the residuals, so unless
// we introduce a validation step after every evaluation of
@@ -385,12 +386,9 @@ TEST(NumericDiffCostFunction, ParameterBlockConstant) {
constexpr int kX1 = 5;
constexpr int kX2 = 5;
std::unique_ptr<CostFunction> cost_function;
cost_function.reset(new NumericDiffCostFunction<EasyFunctor,
CENTRAL,
kNumResiduals,
kX1,
kX2>(new EasyFunctor));
auto cost_function = std::make_unique<
NumericDiffCostFunction<EasyFunctor, CENTRAL, kNumResiduals, kX1, kX2>>(
new EasyFunctor);
// Prepare the parameters and residuals.
std::array<double, kX1> x1{1e-64, 2.0, 3.0, 4.0, 5.0};