| // 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) |
| // |
| |
| #define CERES_CODEGEN |
| |
| #include "ceres/internal/expression_graph.h" |
| #include "ceres/internal/expression_ref.h" |
| |
| #include "gtest/gtest.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| TEST(Expression, ConditionalMinimal) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| T a(2); |
| T b(3); |
| auto c = a < b; |
| CERES_IF(c) {} |
| CERES_ELSE {} |
| CERES_ENDIF |
| auto graph = StopRecordingExpressions(); |
| |
| // Expected code |
| // v_0 = 2; |
| // v_1 = 3; |
| // v_2 = v_0 < v_1; |
| // if(v_2); |
| // else |
| // endif |
| |
| EXPECT_EQ(graph.Size(), 6); |
| |
| ExpressionGraph reference; |
| // clang-format off |
| // Id, Type, Lhs, Value, Name, Arguments... |
| reference.InsertExpression( 0, ExpressionType::COMPILE_TIME_CONSTANT, 0, {} , "", 2); |
| reference.InsertExpression( 1, ExpressionType::COMPILE_TIME_CONSTANT, 1, {} , "", 3); |
| reference.InsertExpression( 2, ExpressionType::BINARY_COMPARISON, 2, {0, 1} , "<", 0); |
| reference.InsertExpression( 3, ExpressionType::IF, -1, {2} , "", 0); |
| reference.InsertExpression( 4, ExpressionType::ELSE, -1, {} , "", 0); |
| reference.InsertExpression( 5, ExpressionType::ENDIF, -1, {} , "", 0); |
| // clang-format on |
| EXPECT_EQ(reference, graph); |
| } |
| |
| TEST(Expression, ConditionalAssignment) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| |
| T result; |
| T a(2); |
| T b(3); |
| auto c = a < b; |
| CERES_IF(c) { result = a + b; } |
| CERES_ELSE { result = a - b; } |
| CERES_ENDIF |
| result += a; |
| auto graph = StopRecordingExpressions(); |
| |
| // Expected code |
| // v_0 = 2; |
| // v_1 = 3; |
| // v_2 = v_0 < v_1; |
| // if(v_2); |
| // v_4 = v_0 + v_1; |
| // else |
| // v_6 = v_0 - v_1; |
| // v_4 = v_6 |
| // endif |
| // v_9 = v_4 + v_0; |
| // v_4 = v_9; |
| |
| ExpressionGraph reference; |
| // clang-format off |
| // Id, Type, Lhs, Value, Name, Arguments... |
| reference.InsertExpression( 0, ExpressionType::COMPILE_TIME_CONSTANT, 0, {} , "", 2); |
| reference.InsertExpression( 1, ExpressionType::COMPILE_TIME_CONSTANT, 1, {} , "", 3); |
| reference.InsertExpression( 2, ExpressionType::BINARY_COMPARISON, 2, {0, 1}, "<", 0); |
| reference.InsertExpression( 3, ExpressionType::IF, -1, {2} , "", 0); |
| reference.InsertExpression( 4, ExpressionType::BINARY_ARITHMETIC, 4, {0, 1}, "+", 0); |
| reference.InsertExpression( 5, ExpressionType::ELSE, -1, {} , "", 0); |
| reference.InsertExpression( 6, ExpressionType::BINARY_ARITHMETIC, 6, {0, 1}, "-", 0); |
| reference.InsertExpression( 7, ExpressionType::ASSIGNMENT, 4, {6} , "", 0); |
| reference.InsertExpression( 8, ExpressionType::ENDIF, -1, {} , "", 0); |
| reference.InsertExpression( 9, ExpressionType::BINARY_ARITHMETIC, 9, {4, 0}, "+", 0); |
| reference.InsertExpression( 10, ExpressionType::ASSIGNMENT, 4, {9} , "", 0); |
| // clang-format on |
| EXPECT_EQ(reference, graph); |
| |
| // Variables after execution: |
| // |
| // a <=> v_0 |
| // b <=> v_1 |
| // result <=> v_4 |
| EXPECT_EQ(a.id, 0); |
| EXPECT_EQ(b.id, 1); |
| EXPECT_EQ(result.id, 4); |
| } |
| |
| } // namespace internal |
| } // namespace ceres |