mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Nikolaus Demmel
7b8f675bfd
- 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
110 lines
3.8 KiB
C++
110 lines
3.8 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 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: strandmark@google.com (Petter Strandmark)
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#include "ceres/gradient_problem.h"
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#include "gtest/gtest.h"
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namespace ceres {
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namespace internal {
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class QuadraticTestFunction : public ceres::FirstOrderFunction {
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public:
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explicit QuadraticTestFunction(bool* flag_to_set_on_destruction = NULL)
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: flag_to_set_on_destruction_(flag_to_set_on_destruction) {}
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virtual ~QuadraticTestFunction() {
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if (flag_to_set_on_destruction_) {
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*flag_to_set_on_destruction_ = true;
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}
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}
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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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const double x = parameters[0];
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cost[0] = x * x;
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if (gradient != NULL) {
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gradient[0] = 2.0 * x;
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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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private:
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bool* flag_to_set_on_destruction_;
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};
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TEST(GradientProblem, TakesOwnershipOfFirstOrderFunction) {
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bool is_destructed = false;
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{ ceres::GradientProblem problem(new QuadraticTestFunction(&is_destructed)); }
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EXPECT_TRUE(is_destructed);
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}
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TEST(GradientProblem, EvaluationWithoutParameterizationOrGradient) {
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ceres::GradientProblem problem(new QuadraticTestFunction());
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double x = 7.0;
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double cost = 0;
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problem.Evaluate(&x, &cost, NULL);
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EXPECT_EQ(x * x, cost);
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}
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TEST(GradientProblem, EvalutaionWithParameterizationAndNoGradient) {
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ceres::GradientProblem problem(new QuadraticTestFunction(),
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new IdentityParameterization(1));
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double x = 7.0;
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double cost = 0;
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problem.Evaluate(&x, &cost, NULL);
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EXPECT_EQ(x * x, cost);
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}
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TEST(GradientProblem, EvaluationWithoutParameterizationAndWithGradient) {
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ceres::GradientProblem problem(new QuadraticTestFunction());
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double x = 7.0;
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double cost = 0;
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double gradient = 0;
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problem.Evaluate(&x, &cost, &gradient);
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EXPECT_EQ(2.0 * x, gradient);
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}
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TEST(GradientProblem, EvaluationWithParameterizationAndWithGradient) {
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ceres::GradientProblem problem(new QuadraticTestFunction(),
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new IdentityParameterization(1));
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double x = 7.0;
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double cost = 0;
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double gradient = 0;
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problem.Evaluate(&x, &cost, &gradient);
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EXPECT_EQ(2.0 * x, gradient);
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}
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} // namespace internal
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} // namespace ceres
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