| // 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) |
| // |
| |
| #include "ceres/internal/expression_graph.h" |
| #include "ceres/internal/expression_ref.h" |
| |
| #include "gtest/gtest.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| TEST(Expression, IsArithmetic) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| |
| T a(2), b(3); |
| T c = a + b; |
| T d = c + a; |
| |
| auto graph = StopRecordingExpressions(); |
| |
| ASSERT_FALSE(graph.ExpressionForId(a.id).IsArithmetic()); |
| ASSERT_FALSE(graph.ExpressionForId(b.id).IsArithmetic()); |
| ASSERT_TRUE(graph.ExpressionForId(c.id).IsArithmetic()); |
| ASSERT_TRUE(graph.ExpressionForId(d.id).IsArithmetic()); |
| } |
| |
| TEST(Expression, IsCompileTimeConstantAndEqualTo) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| |
| T a(2), b(3); |
| T c = a + b; |
| |
| auto graph = StopRecordingExpressions(); |
| |
| ASSERT_TRUE(graph.ExpressionForId(a.id).IsCompileTimeConstantAndEqualTo(2)); |
| ASSERT_FALSE(graph.ExpressionForId(a.id).IsCompileTimeConstantAndEqualTo(0)); |
| ASSERT_TRUE(graph.ExpressionForId(b.id).IsCompileTimeConstantAndEqualTo(3)); |
| ASSERT_FALSE(graph.ExpressionForId(c.id).IsCompileTimeConstantAndEqualTo(0)); |
| } |
| |
| TEST(Expression, IsReplaceableBy) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| |
| // a2 should be replaceable by a |
| T a(2), b(3), a2(2); |
| |
| // two redundant expressions |
| // -> d should be replaceable by c |
| T c = a + b; |
| T d = a + b; |
| |
| auto graph = StopRecordingExpressions(); |
| |
| ASSERT_TRUE(graph.ExpressionForId(a2.id).IsReplaceableBy( |
| graph.ExpressionForId(a.id))); |
| ASSERT_TRUE( |
| graph.ExpressionForId(d.id).IsReplaceableBy(graph.ExpressionForId(c.id))); |
| ASSERT_FALSE(graph.ExpressionForId(d.id).IsReplaceableBy( |
| graph.ExpressionForId(a2.id))); |
| } |
| |
| TEST(Expression, DirectlyDependsOn) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| |
| T unused(6); |
| T a(2), b(3); |
| T c = a + b; |
| T d = c + a; |
| |
| auto graph = StopRecordingExpressions(); |
| |
| ASSERT_FALSE(graph.ExpressionForId(a.id).DirectlyDependsOn(unused.id)); |
| ASSERT_TRUE(graph.ExpressionForId(c.id).DirectlyDependsOn(a.id)); |
| ASSERT_TRUE(graph.ExpressionForId(c.id).DirectlyDependsOn(b.id)); |
| ASSERT_TRUE(graph.ExpressionForId(d.id).DirectlyDependsOn(a.id)); |
| ASSERT_FALSE(graph.ExpressionForId(d.id).DirectlyDependsOn(b.id)); |
| ASSERT_TRUE(graph.ExpressionForId(d.id).DirectlyDependsOn(c.id)); |
| } |
| |
| // Todo: remaining functions of Expression |
| |
| } // namespace internal |
| } // namespace ceres |