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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 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/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+
+namespace ceres {
+namespace internal {
+
+class UnsymmetricLinearSolverTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(0));
+
+ CHECK_NOTNULL(problem.get());
+ A_.reset(down_cast<TripletSparseMatrix*>(problem->A.release()));
+ b_.reset(problem->b.release());
+ D_.reset(problem->D.release());
+ sol_unregularized_.reset(problem->x.release());
+ sol_regularized_.reset(problem->x_D.release());
+ }
+
+ void TestSolver(
+ LinearSolverType linear_solver_type,
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library) {
+ LinearSolver::Options options;
+ options.type = linear_solver_type;
+ options.sparse_linear_algebra_library = sparse_linear_algebra_library;
+ options.use_block_amd = false;
+ scoped_ptr<LinearSolver> solver(LinearSolver::Create(options));
+
+ LinearSolver::PerSolveOptions per_solve_options;
+ LinearSolver::Summary unregularized_solve_summary;
+ LinearSolver::Summary regularized_solve_summary;
+ Vector x_unregularized(A_->num_cols());
+ Vector x_regularized(A_->num_cols());
+
+ scoped_ptr<SparseMatrix> transformed_A;
+
+ if (linear_solver_type == DENSE_QR ||
+ linear_solver_type == DENSE_NORMAL_CHOLESKY) {
+ transformed_A.reset(new DenseSparseMatrix(*A_));
+ } else if (linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
+ transformed_A.reset(new CompressedRowSparseMatrix(*A_));
+ } else {
+ LOG(FATAL) << "Unknown linear solver : " << linear_solver_type;
+ }
+ // Unregularized
+ unregularized_solve_summary =
+ solver->Solve(transformed_A.get(),
+ b_.get(),
+ per_solve_options,
+ x_unregularized.data());
+
+ // Regularized solution
+ per_solve_options.D = D_.get();
+ regularized_solve_summary =
+ solver->Solve(transformed_A.get(),
+ b_.get(),
+ per_solve_options,
+ x_regularized.data());
+
+ EXPECT_EQ(unregularized_solve_summary.termination_type, TOLERANCE);
+
+ for (int i = 0; i < A_->num_cols(); ++i) {
+ EXPECT_NEAR(sol_unregularized_[i], x_unregularized[i], 1e-8);
+ }
+
+ EXPECT_EQ(regularized_solve_summary.termination_type, TOLERANCE);
+ for (int i = 0; i < A_->num_cols(); ++i) {
+ EXPECT_NEAR(sol_regularized_[i], x_regularized[i], 1e-8);
+ }
+ }
+
+ scoped_ptr<TripletSparseMatrix> A_;
+ scoped_array<double> b_;
+ scoped_array<double> D_;
+ scoped_array<double> sol_unregularized_;
+ scoped_array<double> sol_regularized_;
+};
+
+TEST_F(UnsymmetricLinearSolverTest, DenseQR) {
+ TestSolver(DENSE_QR, SUITE_SPARSE);
+}
+
+TEST_F(UnsymmetricLinearSolverTest, DenseNormalCholesky) {
+ TestSolver(DENSE_NORMAL_CHOLESKY, SUITE_SPARSE);
+}
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(UnsymmetricLinearSolverTest, SparseNormalCholeskyUsingSuiteSparse) {
+ TestSolver(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE);
+}
+#endif
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(UnsymmetricLinearSolverTest, SparseNormalCholeskyUsingCXSparse) {
+ TestSolver(SPARSE_NORMAL_CHOLESKY, CX_SPARSE);
+}
+#endif
+
+} // namespace internal
+} // namespace ceres