mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 09:00:37 +08:00
Darius Rueckert
4247d420fa
This patch adds the 'Expression' class, which is a fundamental building block of automatic code generation. The expressions can be used as scalar types for cost functors as well as Jets. Dynamic branching is not yet supported. Change-Id: I8c61bee5c307e0eec20fd39382683ea90f720dff
120 lines
4.0 KiB
C++
120 lines
4.0 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2019 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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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: darius.rueckert@fau.de (Darius Rueckert)
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//
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#include "ceres/internal/expression_graph.h"
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#include "ceres/internal/expression_ref.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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TEST(Expression, IsArithmetic) {
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using T = ExpressionRef;
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StartRecordingExpressions();
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T a(2), b(3);
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T c = a + b;
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T d = c + a;
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auto graph = StopRecordingExpressions();
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ASSERT_FALSE(graph.ExpressionForId(a.id).IsArithmetic());
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ASSERT_FALSE(graph.ExpressionForId(b.id).IsArithmetic());
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ASSERT_TRUE(graph.ExpressionForId(c.id).IsArithmetic());
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ASSERT_TRUE(graph.ExpressionForId(d.id).IsArithmetic());
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}
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TEST(Expression, IsCompileTimeConstantAndEqualTo) {
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using T = ExpressionRef;
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StartRecordingExpressions();
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T a(2), b(3);
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T c = a + b;
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auto graph = StopRecordingExpressions();
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ASSERT_TRUE(graph.ExpressionForId(a.id).IsCompileTimeConstantAndEqualTo(2));
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ASSERT_FALSE(graph.ExpressionForId(a.id).IsCompileTimeConstantAndEqualTo(0));
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ASSERT_TRUE(graph.ExpressionForId(b.id).IsCompileTimeConstantAndEqualTo(3));
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ASSERT_FALSE(graph.ExpressionForId(c.id).IsCompileTimeConstantAndEqualTo(0));
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}
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TEST(Expression, IsReplaceableBy) {
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using T = ExpressionRef;
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StartRecordingExpressions();
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// a2 should be replaceable by a
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T a(2), b(3), a2(2);
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// two redundant expressions
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// -> d should be replaceable by c
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T c = a + b;
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T d = a + b;
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auto graph = StopRecordingExpressions();
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ASSERT_TRUE(graph.ExpressionForId(a2.id).IsReplaceableBy(
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graph.ExpressionForId(a.id)));
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ASSERT_TRUE(
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graph.ExpressionForId(d.id).IsReplaceableBy(graph.ExpressionForId(c.id)));
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ASSERT_FALSE(graph.ExpressionForId(d.id).IsReplaceableBy(
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graph.ExpressionForId(a2.id)));
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}
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TEST(Expression, DirectlyDependsOn) {
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using T = ExpressionRef;
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StartRecordingExpressions();
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T unused(6);
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T a(2), b(3);
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T c = a + b;
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T d = c + a;
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auto graph = StopRecordingExpressions();
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ASSERT_FALSE(graph.ExpressionForId(a.id).DirectlyDependsOn(unused.id));
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ASSERT_TRUE(graph.ExpressionForId(c.id).DirectlyDependsOn(a.id));
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ASSERT_TRUE(graph.ExpressionForId(c.id).DirectlyDependsOn(b.id));
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ASSERT_TRUE(graph.ExpressionForId(d.id).DirectlyDependsOn(a.id));
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ASSERT_FALSE(graph.ExpressionForId(d.id).DirectlyDependsOn(b.id));
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ASSERT_TRUE(graph.ExpressionForId(d.id).DirectlyDependsOn(c.id));
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}
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// Todo: remaining functions of Expression
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} // namespace internal
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} // namespace ceres
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