mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
5a30cae583
1. Add a version history 2. Update copyright years across the code base 3. Run format_all.sh 4. Update version strings from 2.1.0 to 2.2.0 in the docs and elsewhere. Change-Id: I46d8d479d54bd6002d532785e67342106e73c9ac
65 lines
2.6 KiB
C++
65 lines
2.6 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#include <cmath>
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#include <cstdlib>
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#include "ceres/ceres.h"
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#include "glog/logging.h"
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#include "gtest/gtest.h"
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namespace ceres::internal {
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class QuadraticFirstOrderFunction : public ceres::FirstOrderFunction {
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public:
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bool Evaluate(const double* parameters,
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double* cost,
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double* gradient) const final {
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cost[0] = parameters[0] * parameters[0];
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if (gradient != nullptr) {
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gradient[0] = 2.0 * parameters[0];
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}
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return true;
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}
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int NumParameters() const final { return 1; }
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};
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TEST(LineSearchMinimizerTest, FinalCostIsZero) {
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double parameters[1] = {2.0};
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ceres::GradientProblem problem(new QuadraticFirstOrderFunction);
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ceres::GradientProblemSolver::Options options;
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ceres::GradientProblemSolver::Summary summary;
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ceres::Solve(options, problem, parameters, &summary);
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EXPECT_NEAR(summary.final_cost, 0.0, std::numeric_limits<double>::epsilon());
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}
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} // namespace ceres::internal
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