| // 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/codegen/internal/expression_graph.h" |
| #include "ceres/codegen/internal/expression_ref.h" |
| #include "ceres/jet.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_TRUE(graph.ExpressionForId(a.id).IsArithmeticExpression()); |
| ASSERT_TRUE(graph.ExpressionForId(b.id).IsArithmeticExpression()); |
| ASSERT_TRUE(graph.ExpressionForId(c.id).IsArithmeticExpression()); |
| ASSERT_TRUE(graph.ExpressionForId(d.id).IsArithmeticExpression()); |
| } |
| |
| 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)); |
| } |
| |
| TEST(Expression, Ternary) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| T a(2); // 0 |
| T b(3); // 1 |
| auto c = a < b; // 2 |
| T d = Ternary(c, a, b); // 3 |
| MakeOutput(d, "result"); // 4 |
| auto graph = StopRecordingExpressions(); |
| |
| EXPECT_EQ(graph.Size(), 5); |
| |
| // Expected code |
| // v_0 = 2; |
| // v_1 = 3; |
| // v_2 = v_0 < v_1; |
| // v_3 = Ternary(v_2, v_0, v_1); |
| // result = v_3; |
| |
| 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::FUNCTION_CALL, 3, {2,0,1}, "Ternary", 0); |
| reference.InsertExpression( 4, ExpressionType::OUTPUT_ASSIGNMENT, 4, {3}, "result", 0); |
| // clang-format on |
| EXPECT_EQ(reference, graph); |
| } |
| |
| TEST(Expression, Assignment) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| T a = 1; |
| T b = 2; |
| b = a; |
| auto graph = StopRecordingExpressions(); |
| |
| EXPECT_EQ(graph.Size(), 3); |
| |
| ExpressionGraph reference; |
| // clang-format off |
| // Id, Type, Lhs, Value, Name, Arguments |
| reference.InsertExpression( 0, ExpressionType::COMPILE_TIME_CONSTANT, 0, {}, "", 1); |
| reference.InsertExpression( 1, ExpressionType::COMPILE_TIME_CONSTANT, 1, {}, "", 2); |
| reference.InsertExpression( 2, ExpressionType::ASSIGNMENT, 1, {0}, "", 0); |
| // clang-format on |
| EXPECT_EQ(reference, graph); |
| } |
| |
| TEST(Expression, AssignmentCreate) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| T a = 2; |
| T b = a; |
| auto graph = StopRecordingExpressions(); |
| |
| EXPECT_EQ(graph.Size(), 2); |
| |
| ExpressionGraph reference; |
| // clang-format off |
| // Id, Type, Lhs, Value, Name, Arguments |
| reference.InsertExpression( 0, ExpressionType::COMPILE_TIME_CONSTANT, 0, {}, "", 2); |
| reference.InsertExpression( 1, ExpressionType::ASSIGNMENT, 1, {0}, "", 0); |
| // clang-format on |
| EXPECT_EQ(reference, graph); |
| } |
| |
| TEST(Expression, MoveAssignmentCreate) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| T a = 1; |
| T b = std::move(a); |
| auto graph = StopRecordingExpressions(); |
| |
| EXPECT_EQ(graph.Size(), 1); |
| |
| ExpressionGraph reference; |
| // clang-format off |
| // Id, Type, Lhs, Value, Name, Arguments |
| reference.InsertExpression( 0, ExpressionType::COMPILE_TIME_CONSTANT, 0, {}, "", 1); |
| // clang-format on |
| EXPECT_EQ(reference, graph); |
| } |
| |
| TEST(Expression, MoveAssignment) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| T a = 1; |
| T b = 2; |
| b = std::move(a); |
| auto graph = StopRecordingExpressions(); |
| |
| EXPECT_EQ(graph.Size(), 3); |
| |
| ExpressionGraph reference; |
| // clang-format off |
| // Id, Type, Lhs, Value, Name, Arguments |
| reference.InsertExpression( 0, ExpressionType::COMPILE_TIME_CONSTANT, 0, {}, "", 1); |
| reference.InsertExpression( 1, ExpressionType::COMPILE_TIME_CONSTANT, 1, {}, "", 2); |
| reference.InsertExpression( 2, ExpressionType::ASSIGNMENT, 1, {0}, "", 0); |
| // clang-format on |
| EXPECT_EQ(reference, graph); |
| } |
| |
| } // namespace internal |
| } // namespace ceres |