mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
caf614a6c1
Mostly done using
find . \( -name '*.cc' -o -name '*.h' \) -a -type f -exec clang-tidy -p \
cmake-build -checks='-*,google-*,modernize-*,-modernize-use-nodiscard,-modernize-use-trailing-return-type' {} -fix \;
Change-Id: Ifccbcabe7a1d9a32a09d28ac4f3f8466696c1a50
78 lines
2.8 KiB
C++
78 lines
2.8 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2021 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 "ceres/numeric_diff_first_order_function.h"
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#include <memory>
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#include "ceres/array_utils.h"
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#include "ceres/first_order_function.h"
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#include "gtest/gtest.h"
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namespace ceres::internal {
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class QuadraticCostFunctor {
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public:
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explicit QuadraticCostFunctor(double a) : a_(a) {}
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bool operator()(const double* const x, double* cost) const {
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cost[0] = x[0] * x[1] + x[2] * x[3] - a_;
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return true;
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}
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private:
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double a_;
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};
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TEST(NumericDiffFirstOrderFunction, BilinearDifferentiationTest) {
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std::unique_ptr<FirstOrderFunction> function(
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new NumericDiffFirstOrderFunction<QuadraticCostFunctor, CENTRAL, 4>(
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new QuadraticCostFunctor(1.0)));
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double parameters[4] = {1.0, 2.0, 3.0, 4.0};
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double gradient[4];
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double cost;
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function->Evaluate(parameters, &cost, nullptr);
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EXPECT_EQ(cost, 13.0);
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cost = -1.0;
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function->Evaluate(parameters, &cost, gradient);
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EXPECT_EQ(cost, 13.0);
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const double kTolerance = 1e-9;
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EXPECT_NEAR(gradient[0], parameters[1], kTolerance);
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EXPECT_NEAR(gradient[1], parameters[0], kTolerance);
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EXPECT_NEAR(gradient[2], parameters[3], kTolerance);
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EXPECT_NEAR(gradient[3], parameters[2], kTolerance);
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}
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} // namespace ceres::internal
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