| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2023 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // 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: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #include "ceres/array_utils.h" |
| |
| #include <cmath> |
| #include <limits> |
| #include <vector> |
| |
| #include "gtest/gtest.h" |
| |
| namespace ceres::internal { |
| |
| TEST(ArrayUtils, IsArrayValid) { |
| double x[3]; |
| x[0] = 0.0; |
| x[1] = 1.0; |
| x[2] = 2.0; |
| EXPECT_TRUE(IsArrayValid(3, x)); |
| x[1] = std::numeric_limits<double>::infinity(); |
| EXPECT_FALSE(IsArrayValid(3, x)); |
| x[1] = std::numeric_limits<double>::quiet_NaN(); |
| EXPECT_FALSE(IsArrayValid(3, x)); |
| x[1] = std::numeric_limits<double>::signaling_NaN(); |
| EXPECT_FALSE(IsArrayValid(3, x)); |
| EXPECT_TRUE(IsArrayValid(1, nullptr)); |
| InvalidateArray(3, x); |
| EXPECT_FALSE(IsArrayValid(3, x)); |
| } |
| |
| TEST(ArrayUtils, FindInvalidIndex) { |
| double x[3]; |
| x[0] = 0.0; |
| x[1] = 1.0; |
| x[2] = 2.0; |
| EXPECT_EQ(FindInvalidValue(3, x), 3); |
| x[1] = std::numeric_limits<double>::infinity(); |
| EXPECT_EQ(FindInvalidValue(3, x), 1); |
| x[1] = std::numeric_limits<double>::quiet_NaN(); |
| EXPECT_EQ(FindInvalidValue(3, x), 1); |
| x[1] = std::numeric_limits<double>::signaling_NaN(); |
| EXPECT_EQ(FindInvalidValue(3, x), 1); |
| EXPECT_EQ(FindInvalidValue(1, nullptr), 1); |
| InvalidateArray(3, x); |
| EXPECT_EQ(FindInvalidValue(3, x), 0); |
| } |
| |
| TEST(MapValuesToContiguousRange, ContiguousEntries) { |
| std::vector<int> array; |
| array.push_back(0); |
| array.push_back(1); |
| std::vector<int> expected = array; |
| MapValuesToContiguousRange(array.size(), &array[0]); |
| EXPECT_EQ(array, expected); |
| array.clear(); |
| |
| array.push_back(1); |
| array.push_back(0); |
| expected = array; |
| MapValuesToContiguousRange(array.size(), &array[0]); |
| EXPECT_EQ(array, expected); |
| } |
| |
| TEST(MapValuesToContiguousRange, NonContiguousEntries) { |
| std::vector<int> array; |
| array.push_back(0); |
| array.push_back(2); |
| std::vector<int> expected; |
| expected.push_back(0); |
| expected.push_back(1); |
| MapValuesToContiguousRange(array.size(), &array[0]); |
| EXPECT_EQ(array, expected); |
| } |
| |
| TEST(MapValuesToContiguousRange, NonContiguousRepeatingEntries) { |
| std::vector<int> array; |
| array.push_back(3); |
| array.push_back(1); |
| array.push_back(0); |
| array.push_back(0); |
| array.push_back(0); |
| array.push_back(5); |
| std::vector<int> expected; |
| expected.push_back(2); |
| expected.push_back(1); |
| expected.push_back(0); |
| expected.push_back(0); |
| expected.push_back(0); |
| expected.push_back(3); |
| MapValuesToContiguousRange(array.size(), &array[0]); |
| EXPECT_EQ(array, expected); |
| } |
| |
| } // namespace ceres::internal |