mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
509f68cfe3
1. Add Problem::Evaluate and tests. 2. Remove Solver::Summary::initial/final_* 3. Remove Solver::Options::return_* members. 4. Various cpplint cleanups. Change-Id: I4266de53489896f72d9c6798c5efde6748d68a47
126 lines
4.9 KiB
C++
126 lines
4.9 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2013 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: sameeragarwal@google.com (Sameer Agarwal)
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#include "ceres/numeric_diff_functor.h"
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#include <algorithm>
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#include <cmath>
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#include <string>
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#include <vector>
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#include "ceres/autodiff_cost_function.h"
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#include "ceres/internal/scoped_ptr.h"
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#include "ceres/numeric_diff_test_utils.h"
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#include "ceres/test_util.h"
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#include "ceres/types.h"
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#include "glog/logging.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(NumericDiffCostFunction, EasyCaseCentralDifferences) {
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typedef NumericDiffFunctor<EasyFunctor, CENTRAL, 3, 5, 5>
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NumericDiffEasyFunctor;
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internal::scoped_ptr<CostFunction> cost_function;
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EasyFunctor functor;
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cost_function.reset(
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new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
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new NumericDiffEasyFunctor));
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
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cost_function.reset(
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new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
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new NumericDiffEasyFunctor(new EasyFunctor)));
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
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}
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TEST(NumericDiffCostFunction, EasyCaseForwardDifferences) {
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typedef NumericDiffFunctor<EasyFunctor, FORWARD, 3, 5, 5>
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NumericDiffEasyFunctor;
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internal::scoped_ptr<CostFunction> cost_function;
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EasyFunctor functor;
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cost_function.reset(
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new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
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new NumericDiffEasyFunctor));
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
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cost_function.reset(
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new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
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new NumericDiffEasyFunctor(new EasyFunctor)));
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
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}
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TEST(NumericDiffCostFunction, TranscendentalCaseCentralDifferences) {
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typedef NumericDiffFunctor<TranscendentalFunctor, CENTRAL, 2, 5, 5>
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NumericDiffTranscendentalFunctor;
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internal::scoped_ptr<CostFunction> cost_function;
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TranscendentalFunctor functor;
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cost_function.reset(
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new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
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new NumericDiffTranscendentalFunctor));
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
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cost_function.reset(
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new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
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new NumericDiffTranscendentalFunctor(new TranscendentalFunctor)));
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
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}
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TEST(NumericDiffCostFunction, TranscendentalCaseForwardDifferences) {
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typedef NumericDiffFunctor<TranscendentalFunctor, FORWARD, 2, 5, 5>
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NumericDiffTranscendentalFunctor;
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internal::scoped_ptr<CostFunction> cost_function;
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TranscendentalFunctor functor;
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cost_function.reset(
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new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
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new NumericDiffTranscendentalFunctor));
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
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cost_function.reset(
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new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
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new NumericDiffTranscendentalFunctor(new TranscendentalFunctor)));
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functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
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}
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} // namespace internal
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} // namespace ceres
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