1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
|
// 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)
#ifndef CERES_INTERNAL_NUMERIC_DIFF_TEST_UTILS_H_
#define CERES_INTERNAL_NUMERIC_DIFF_TEST_UTILS_H_
#include "ceres/cost_function.h"
#include "ceres/sized_cost_function.h"
#include "ceres/types.h"
namespace ceres {
namespace internal {
// y1 = x1'x2 -> dy1/dx1 = x2, dy1/dx2 = x1
// y2 = (x1'x2)^2 -> dy2/dx1 = 2 * x2 * (x1'x2), dy2/dx2 = 2 * x1 * (x1'x2)
// y3 = x2'x2 -> dy3/dx1 = 0, dy3/dx2 = 2 * x2
class EasyFunctor {
public:
bool operator()(const double* x1, const double* x2, double* residuals) const;
void ExpectCostFunctionEvaluationIsNearlyCorrect(
const CostFunction& cost_function,
NumericDiffMethod method) const;
};
class EasyCostFunction : public SizedCostFunction<3, 5, 5> {
public:
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** /* not used */) const {
return functor_(parameters[0], parameters[1], residuals);
}
private:
EasyFunctor functor_;
};
// y1 = sin(x1'x2)
// y2 = exp(-x1'x2 / 10)
//
// dy1/dx1 = x2 * cos(x1'x2), dy1/dx2 = x1 * cos(x1'x2)
// dy2/dx1 = -x2 * exp(-x1'x2 / 10) / 10, dy2/dx2 = -x2 * exp(-x1'x2 / 10) / 10
class TranscendentalFunctor {
public:
bool operator()(const double* x1, const double* x2, double* residuals) const;
void ExpectCostFunctionEvaluationIsNearlyCorrect(
const CostFunction& cost_function,
NumericDiffMethod method) const;
};
class TranscendentalCostFunction : public SizedCostFunction<2, 5, 5> {
public:
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** /* not used */) const {
return functor_(parameters[0], parameters[1], residuals);
}
private:
TranscendentalFunctor functor_;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_NUMERIC_DIFF_TEST_UTILS_H_
|
