diff options
Diffstat (limited to 'internal/ceres/residual_block_test.cc')
| -rw-r--r-- | internal/ceres/residual_block_test.cc | 32 |
1 files changed, 16 insertions, 16 deletions
diff --git a/internal/ceres/residual_block_test.cc b/internal/ceres/residual_block_test.cc index 92b79f6..1e03e7d 100644 --- a/internal/ceres/residual_block_test.cc +++ b/internal/ceres/residual_block_test.cc @@ -77,13 +77,13 @@ TEST(ResidualBlock, EvaluteWithNoLossFunctionOrLocalParameterizations) { // Prepare the parameter blocks. double values_x[2]; - ParameterBlock x(values_x, 2); + ParameterBlock x(values_x, 2, -1); double values_y[3]; - ParameterBlock y(values_y, 3); + ParameterBlock y(values_y, 3, -1); double values_z[4]; - ParameterBlock z(values_z, 4); + ParameterBlock z(values_z, 4, -1); vector<ParameterBlock*> parameters; parameters.push_back(&x); @@ -93,7 +93,7 @@ TEST(ResidualBlock, EvaluteWithNoLossFunctionOrLocalParameterizations) { TernaryCostFunction cost_function(3, 2, 3, 4); // Create the object under tests. - ResidualBlock residual_block(&cost_function, NULL, parameters); + ResidualBlock residual_block(&cost_function, NULL, parameters, -1); // Verify getters. EXPECT_EQ(&cost_function, residual_block.cost_function()); @@ -105,12 +105,12 @@ TEST(ResidualBlock, EvaluteWithNoLossFunctionOrLocalParameterizations) { // Verify cost-only evaluation. double cost; - residual_block.Evaluate(&cost, NULL, NULL, scratch); + residual_block.Evaluate(true, &cost, NULL, NULL, scratch); EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); // Verify cost and residual evaluation. double residuals[3]; - residual_block.Evaluate(&cost, residuals, NULL, scratch); + residual_block.Evaluate(true, &cost, residuals, NULL, scratch); EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); EXPECT_EQ(0.0, residuals[0]); EXPECT_EQ(1.0, residuals[1]); @@ -134,7 +134,7 @@ TEST(ResidualBlock, EvaluteWithNoLossFunctionOrLocalParameterizations) { jacobian_rz.data() }; - residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch); + residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch); EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); EXPECT_EQ(0.0, residuals[0]); EXPECT_EQ(1.0, residuals[1]); @@ -153,7 +153,7 @@ TEST(ResidualBlock, EvaluteWithNoLossFunctionOrLocalParameterizations) { jacobian_ptrs[1] = NULL; // Don't compute the jacobian for y. - residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch); + residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch); EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); EXPECT_EQ(0.0, residuals[0]); EXPECT_EQ(1.0, residuals[1]); @@ -204,13 +204,13 @@ TEST(ResidualBlock, EvaluteWithLocalParameterizations) { // Prepare the parameter blocks. double values_x[2]; - ParameterBlock x(values_x, 2); + ParameterBlock x(values_x, 2, -1); double values_y[3]; - ParameterBlock y(values_y, 3); + ParameterBlock y(values_y, 3, -1); double values_z[4]; - ParameterBlock z(values_z, 4); + ParameterBlock z(values_z, 4, -1); vector<ParameterBlock*> parameters; parameters.push_back(&x); @@ -232,7 +232,7 @@ TEST(ResidualBlock, EvaluteWithLocalParameterizations) { LocallyParameterizedCostFunction cost_function; // Create the object under tests. - ResidualBlock residual_block(&cost_function, NULL, parameters); + ResidualBlock residual_block(&cost_function, NULL, parameters, -1); // Verify getters. EXPECT_EQ(&cost_function, residual_block.cost_function()); @@ -244,12 +244,12 @@ TEST(ResidualBlock, EvaluteWithLocalParameterizations) { // Verify cost-only evaluation. double cost; - residual_block.Evaluate(&cost, NULL, NULL, scratch); + residual_block.Evaluate(true, &cost, NULL, NULL, scratch); EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); // Verify cost and residual evaluation. double residuals[3]; - residual_block.Evaluate(&cost, residuals, NULL, scratch); + residual_block.Evaluate(true, &cost, residuals, NULL, scratch); EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); EXPECT_EQ(0.0, residuals[0]); EXPECT_EQ(1.0, residuals[1]); @@ -273,7 +273,7 @@ TEST(ResidualBlock, EvaluteWithLocalParameterizations) { jacobian_rz.data() }; - residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch); + residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch); EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); EXPECT_EQ(0.0, residuals[0]); EXPECT_EQ(1.0, residuals[1]); @@ -311,7 +311,7 @@ TEST(ResidualBlock, EvaluteWithLocalParameterizations) { jacobian_ptrs[1] = NULL; // Don't compute the jacobian for y. - residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch); + residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch); EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost); EXPECT_EQ(0.0, residuals[0]); EXPECT_EQ(1.0, residuals[1]); |