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
93 lines
3.9 KiB
C++
93 lines
3.9 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2015 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: keir@google.com (Keir Mierle)
|
|
// sameeragarwal@google.com (Sameer Agarwal)
|
|
|
|
#include "ceres/evaluator_test_utils.h"
|
|
|
|
#include "ceres/internal/eigen.h"
|
|
#include "gtest/gtest.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
void CompareEvaluations(int expected_num_rows,
|
|
int expected_num_cols,
|
|
double expected_cost,
|
|
const double* expected_residuals,
|
|
const double* expected_gradient,
|
|
const double* expected_jacobian,
|
|
const double actual_cost,
|
|
const double* actual_residuals,
|
|
const double* actual_gradient,
|
|
const double* actual_jacobian) {
|
|
EXPECT_EQ(expected_cost, actual_cost);
|
|
|
|
if (expected_residuals != NULL) {
|
|
ConstVectorRef expected_residuals_vector(expected_residuals,
|
|
expected_num_rows);
|
|
ConstVectorRef actual_residuals_vector(actual_residuals, expected_num_rows);
|
|
EXPECT_TRUE(
|
|
(actual_residuals_vector.array() == expected_residuals_vector.array())
|
|
.all())
|
|
<< "Actual:\n"
|
|
<< actual_residuals_vector << "\nExpected:\n"
|
|
<< expected_residuals_vector;
|
|
}
|
|
|
|
if (expected_gradient != NULL) {
|
|
ConstVectorRef expected_gradient_vector(expected_gradient,
|
|
expected_num_cols);
|
|
ConstVectorRef actual_gradient_vector(actual_gradient, expected_num_cols);
|
|
|
|
EXPECT_TRUE(
|
|
(actual_gradient_vector.array() == expected_gradient_vector.array())
|
|
.all())
|
|
<< "Actual:\n"
|
|
<< actual_gradient_vector.transpose() << "\nExpected:\n"
|
|
<< expected_gradient_vector.transpose();
|
|
}
|
|
|
|
if (expected_jacobian != NULL) {
|
|
ConstMatrixRef expected_jacobian_matrix(
|
|
expected_jacobian, expected_num_rows, expected_num_cols);
|
|
ConstMatrixRef actual_jacobian_matrix(
|
|
actual_jacobian, expected_num_rows, expected_num_cols);
|
|
EXPECT_TRUE(
|
|
(actual_jacobian_matrix.array() == expected_jacobian_matrix.array())
|
|
.all())
|
|
<< "Actual:\n"
|
|
<< actual_jacobian_matrix << "\nExpected:\n"
|
|
<< expected_jacobian_matrix;
|
|
}
|
|
}
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|