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author | Sascha Haeberling <haeberling@google.com> | 2013-07-23 19:00:21 -0700 |
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committer | Sascha Haeberling <haeberling@google.com> | 2013-07-24 12:00:09 -0700 |
commit | 1d2624a10e2c559f8ba9ef89eaa30832c0a83a96 (patch) | |
tree | f43667ef858dd0f377b15a58a9d5c9a126762c55 /internal/ceres/numeric_diff_functor_test.cc | |
parent | 0ae28bd5885b5daa526898fcf7c323dc2c3e1963 (diff) | |
download | ceres-solver-1d2624a10e2c559f8ba9ef89eaa30832c0a83a96.tar.gz |
Update ceres to the latest version in google3.
Change-Id: I0165fffa55f60714f23e0096eac89fa68df75a05
Diffstat (limited to 'internal/ceres/numeric_diff_functor_test.cc')
-rw-r--r-- | internal/ceres/numeric_diff_functor_test.cc | 125 |
1 files changed, 125 insertions, 0 deletions
diff --git a/internal/ceres/numeric_diff_functor_test.cc b/internal/ceres/numeric_diff_functor_test.cc new file mode 100644 index 0000000..acd7ff9 --- /dev/null +++ b/internal/ceres/numeric_diff_functor_test.cc @@ -0,0 +1,125 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2013 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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: sameeragarwal@google.com (Sameer Agarwal) + +#include "ceres/numeric_diff_functor.h" + +#include <algorithm> +#include <cmath> +#include <string> +#include <vector> +#include "ceres/autodiff_cost_function.h" +#include "ceres/internal/scoped_ptr.h" +#include "ceres/numeric_diff_test_utils.h" +#include "ceres/test_util.h" +#include "ceres/types.h" +#include "glog/logging.h" +#include "gtest/gtest.h" + +namespace ceres { +namespace internal { + +TEST(NumericDiffCostFunction, EasyCaseCentralDifferences) { + typedef NumericDiffFunctor<EasyFunctor, CENTRAL, 3, 5, 5> + NumericDiffEasyFunctor; + + internal::scoped_ptr<CostFunction> cost_function; + EasyFunctor functor; + + cost_function.reset( + new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>( + new NumericDiffEasyFunctor)); + + functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL); + + cost_function.reset( + new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>( + new NumericDiffEasyFunctor(new EasyFunctor))); + functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL); +} + +TEST(NumericDiffCostFunction, EasyCaseForwardDifferences) { + typedef NumericDiffFunctor<EasyFunctor, FORWARD, 3, 5, 5> + NumericDiffEasyFunctor; + + internal::scoped_ptr<CostFunction> cost_function; + EasyFunctor functor; + + cost_function.reset( + new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>( + new NumericDiffEasyFunctor)); + + functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD); + + cost_function.reset( + new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>( + new NumericDiffEasyFunctor(new EasyFunctor))); + functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD); +} + +TEST(NumericDiffCostFunction, TranscendentalCaseCentralDifferences) { + typedef NumericDiffFunctor<TranscendentalFunctor, CENTRAL, 2, 5, 5> + NumericDiffTranscendentalFunctor; + + internal::scoped_ptr<CostFunction> cost_function; + TranscendentalFunctor functor; + + cost_function.reset( + new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>( + new NumericDiffTranscendentalFunctor)); + + functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL); + + cost_function.reset( + new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>( + new NumericDiffTranscendentalFunctor(new TranscendentalFunctor))); + functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL); +} + +TEST(NumericDiffCostFunction, TranscendentalCaseForwardDifferences) { + typedef NumericDiffFunctor<TranscendentalFunctor, FORWARD, 2, 5, 5> + NumericDiffTranscendentalFunctor; + + internal::scoped_ptr<CostFunction> cost_function; + TranscendentalFunctor functor; + + cost_function.reset( + new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>( + new NumericDiffTranscendentalFunctor)); + + functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD); + + cost_function.reset( + new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>( + new NumericDiffTranscendentalFunctor(new TranscendentalFunctor))); + functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD); +} + +} // namespace internal +} // namespace ceres |