| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2020 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: darius.rueckert@fau.de (Darius Rueckert) |
| // |
| #define CERES_CODEGEN |
| |
| #include "ceres/codegen/internal/eliminate_nops.h" |
| |
| #include "ceres/codegen/internal/code_generator.h" |
| #include "ceres/codegen/internal/expression_graph.h" |
| #include "ceres/codegen/internal/expression_ref.h" |
| #include "gtest/gtest.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| using T = ExpressionRef; |
| |
| TEST(EliminateNops, SimpleLinear) { |
| StartRecordingExpressions(); |
| { |
| T a = T(0); |
| // The Expression default constructor creates a NOP. |
| AddExpressionToGraph(Expression()); |
| AddExpressionToGraph(Expression()); |
| T b = T(2); |
| AddExpressionToGraph(Expression()); |
| MakeOutput(b, "residual[0]"); |
| AddExpressionToGraph(Expression()); |
| } |
| auto graph = StopRecordingExpressions(); |
| |
| StartRecordingExpressions(); |
| { |
| T a = T(0); |
| T b = T(2); |
| MakeOutput(b, "residual[0]"); |
| } |
| auto reference = StopRecordingExpressions(); |
| |
| auto summary = EliminateNops(&graph); |
| EXPECT_TRUE(summary.expression_graph_changed); |
| EXPECT_EQ(graph, reference); |
| } |
| |
| TEST(EliminateNops, Branches) { |
| StartRecordingExpressions(); |
| { |
| T a = T(0); |
| // The Expression default constructor creates a NOP. |
| AddExpressionToGraph(Expression()); |
| AddExpressionToGraph(Expression()); |
| T b = T(2); |
| CERES_IF(a < b) { |
| AddExpressionToGraph(Expression()); |
| T c = T(3); |
| } |
| CERES_ELSE { |
| AddExpressionToGraph(Expression()); |
| MakeOutput(b, "residual[0]"); |
| AddExpressionToGraph(Expression()); |
| } |
| CERES_ENDIF |
| AddExpressionToGraph(Expression()); |
| } |
| auto graph = StopRecordingExpressions(); |
| |
| StartRecordingExpressions(); |
| { |
| T a = T(0); |
| T b = T(2); |
| CERES_IF(a < b) { T c = T(3); } |
| CERES_ELSE { MakeOutput(b, "residual[0]"); } |
| CERES_ENDIF |
| } |
| auto reference = StopRecordingExpressions(); |
| |
| auto summary = EliminateNops(&graph); |
| EXPECT_TRUE(summary.expression_graph_changed); |
| EXPECT_EQ(graph, reference); |
| } |
| |
| } // namespace internal |
| } // namespace ceres |