1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
4 //
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6 // modification, are permitted provided that the following conditions are met:
7 //
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9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
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16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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29 // Author: strandmark@google.com (Petter Strandmark)
30
31 #include "ceres/gradient_problem.h"
32
33 #include "gtest/gtest.h"
34
35 namespace ceres {
36 namespace internal {
37
38 class QuadraticTestFunction : public ceres::FirstOrderFunction {
39 public:
QuadraticTestFunction(bool * flag_to_set_on_destruction=NULL)40 explicit QuadraticTestFunction(bool* flag_to_set_on_destruction = NULL)
41 : flag_to_set_on_destruction_(flag_to_set_on_destruction) {}
42
~QuadraticTestFunction()43 virtual ~QuadraticTestFunction() {
44 if (flag_to_set_on_destruction_) {
45 *flag_to_set_on_destruction_ = true;
46 }
47 }
48
Evaluate(const double * parameters,double * cost,double * gradient) const49 virtual bool Evaluate(const double* parameters,
50 double* cost,
51 double* gradient) const {
52 const double x = parameters[0];
53 cost[0] = x * x;
54 if (gradient != NULL) {
55 gradient[0] = 2.0 * x;
56 }
57 return true;
58 }
59
NumParameters() const60 virtual int NumParameters() const { return 1; }
61
62 private:
63 bool* flag_to_set_on_destruction_;
64 };
65
TEST(GradientProblem,TakesOwnershipOfFirstOrderFunction)66 TEST(GradientProblem, TakesOwnershipOfFirstOrderFunction) {
67 bool is_destructed = false;
68 {
69 ceres::GradientProblem problem(new QuadraticTestFunction(&is_destructed));
70 }
71 EXPECT_TRUE(is_destructed);
72 }
73
TEST(GradientProblem,EvaluationWithoutParameterizationOrGradient)74 TEST(GradientProblem, EvaluationWithoutParameterizationOrGradient) {
75 ceres::GradientProblem problem(new QuadraticTestFunction());
76 double x = 7.0;
77 double cost = 0;
78 problem.Evaluate(&x, &cost, NULL);
79 EXPECT_EQ(x * x, cost);
80 }
81
TEST(GradientProblem,EvalutaionWithParameterizationAndNoGradient)82 TEST(GradientProblem, EvalutaionWithParameterizationAndNoGradient) {
83 ceres::GradientProblem problem(new QuadraticTestFunction(),
84 new IdentityParameterization(1));
85 double x = 7.0;
86 double cost = 0;
87 problem.Evaluate(&x, &cost, NULL);
88 EXPECT_EQ(x * x, cost);
89 }
90
TEST(GradientProblem,EvaluationWithoutParameterizationAndWithGradient)91 TEST(GradientProblem, EvaluationWithoutParameterizationAndWithGradient) {
92 ceres::GradientProblem problem(new QuadraticTestFunction());
93 double x = 7.0;
94 double cost = 0;
95 double gradient = 0;
96 problem.Evaluate(&x, &cost, &gradient);
97 EXPECT_EQ(2.0 * x, gradient);
98 }
99
TEST(GradientProblem,EvaluationWithParameterizationAndWithGradient)100 TEST(GradientProblem, EvaluationWithParameterizationAndWithGradient) {
101 ceres::GradientProblem problem(new QuadraticTestFunction(),
102 new IdentityParameterization(1));
103 double x = 7.0;
104 double cost = 0;
105 double gradient = 0;
106 problem.Evaluate(&x, &cost, &gradient);
107 EXPECT_EQ(2.0 * x, gradient);
108 }
109
110 } // namespace internal
111 } // namespace ceres
112