| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2019 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) |
| // |
| // This file tests the Expression class. For each member function one test is |
| // included here. |
| // |
| #include "autodiff_codegen_test.h" |
| |
| #include "ceres/autodiff_cost_function.h" |
| #include "codegen/test_utils.h" |
| #include "gtest/gtest.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| class AutoDiffCodegenTest : public testing::TestWithParam<double> { |
| public: |
| template <typename CostFunctionType, int kNumResiduals, int... Ns> |
| void TestCostFunction() { |
| using CostFunctorType = CostFunctionToFunctor<CostFunctionType>; |
| CostFunctionType generated_cost_function; |
| CostFunctorType cost_functor; |
| auto* cost_function_ad = |
| new AutoDiffCostFunction<CostFunctorType, kNumResiduals, Ns...>( |
| &cost_functor); |
| auto value = GetParam(); |
| CompareCostFunctions(&generated_cost_function, |
| cost_function_ad, |
| value, |
| kRelativeErrorThreshold); |
| } |
| static constexpr double kRelativeErrorThreshold = 0; |
| }; |
| |
| TEST_P(AutoDiffCodegenTest, InputOutputAssignment) { |
| TestCostFunction<test::InputOutputAssignment, 7, 4, 2, 1>(); |
| } |
| |
| TEST_P(AutoDiffCodegenTest, CompileTimeConstants) { |
| TestCostFunction<test::CompileTimeConstants, 7, 1>(); |
| } |
| |
| TEST_P(AutoDiffCodegenTest, Assignments) { |
| TestCostFunction<test::Assignments, 8, 2>(); |
| } |
| |
| TEST_P(AutoDiffCodegenTest, BinaryArithmetic) { |
| TestCostFunction<test::BinaryArithmetic, 9, 2>(); |
| } |
| |
| TEST_P(AutoDiffCodegenTest, UnaryArithmetic) { |
| TestCostFunction<test::UnaryArithmetic, 3, 1>(); |
| } |
| |
| TEST_P(AutoDiffCodegenTest, BinaryComparison) { |
| TestCostFunction<test::BinaryComparison, 12, 2>(); |
| } |
| |
| TEST_P(AutoDiffCodegenTest, LogicalOperators) { |
| TestCostFunction<test::LogicalOperators, 8, 3>(); |
| } |
| |
| TEST_P(AutoDiffCodegenTest, ScalarFunctions) { |
| TestCostFunction<test::ScalarFunctions, 20, 22>(); |
| } |
| |
| TEST_P(AutoDiffCodegenTest, LogicalFunctions) { |
| TestCostFunction<test::LogicalFunctions, 4, 4>(); |
| } |
| |
| TEST_P(AutoDiffCodegenTest, Branches) { |
| TestCostFunction<test::Branches, 4, 3>(); |
| } |
| |
| INSTANTIATE_TEST_SUITE_P( |
| AutoDiffCodegenTest, |
| AutoDiffCodegenTest, |
| testing::Values(0, |
| -1, |
| 1, |
| 0.5, |
| -0.5, |
| 10, |
| -10, |
| 1e20, |
| 1e-20, |
| std::numeric_limits<double>::infinity(), |
| std::numeric_limits<double>::quiet_NaN())); |
| } // namespace internal |
| } // namespace ceres |