Initial commit of Ceres Solver.
diff --git a/internal/ceres/conditioned_cost_function_test.cc b/internal/ceres/conditioned_cost_function_test.cc
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 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: wjr@google.com (William Rucklidge)
+//
+// Tests for the conditioned cost function.
+
+#include "ceres/conditioned_cost_function.h"
+
+#include "gtest/gtest.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/normal_prior.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// The size of the cost functions we build.
+static const int kTestCostFunctionSize = 3;
+
+// A simple cost function: return ax + b.
+class LinearCostFunction : public CostFunction {
+ public:
+ LinearCostFunction(double a, double b) : a_(a), b_(b) {
+ set_num_residuals(1);
+ mutable_parameter_block_sizes()->push_back(1);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ *residuals = **parameters * a_ + b_;
+ if (jacobians && *jacobians) {
+ **jacobians = a_;
+ }
+
+ return true;
+ }
+
+ private:
+ const double a_, b_;
+};
+
+// Tests that ConditionedCostFunction does what it's supposed to.
+TEST(CostFunctionTest, ConditionedCostFunction) {
+ double v1[kTestCostFunctionSize], v2[kTestCostFunctionSize],
+ jac[kTestCostFunctionSize * kTestCostFunctionSize],
+ result[kTestCostFunctionSize];
+
+ for (int i = 0; i < kTestCostFunctionSize; i++) {
+ v1[i] = i;
+ v2[i] = i * 10;
+ // Seed a few garbage values in the Jacobian matrix, to make sure that
+ // they're overwritten.
+ jac[i * 2] = i * i;
+ result[i] = i * i * i;
+ }
+
+ // Make a cost function that computes x - v2
+ VectorRef v2_vector(v2, kTestCostFunctionSize, 1);
+ Matrix identity(kTestCostFunctionSize, kTestCostFunctionSize);
+ identity.setIdentity();
+ NormalPrior* difference_cost_function = new NormalPrior(identity, v2_vector);
+
+ vector<CostFunction*> conditioners;
+ for (int i = 0; i < kTestCostFunctionSize; i++) {
+ conditioners.push_back(new LinearCostFunction(i + 2, i * 7));
+ }
+
+ ConditionedCostFunction conditioned_cost_function(difference_cost_function,
+ conditioners,
+ TAKE_OWNERSHIP);
+ EXPECT_EQ(difference_cost_function->num_residuals(),
+ conditioned_cost_function.num_residuals());
+ EXPECT_EQ(difference_cost_function->parameter_block_sizes(),
+ conditioned_cost_function.parameter_block_sizes());
+
+ double *parameters[1];
+ parameters[0] = v1;
+ double *jacs[1];
+ jacs[0] = jac;
+
+ conditioned_cost_function.Evaluate(parameters, result, jacs);
+ for (int i = 0; i < kTestCostFunctionSize; i++) {
+ EXPECT_DOUBLE_EQ((i + 2) * (v1[i] - v2[i]) + i * 7, result[i]);
+ }
+
+ for (int i = 0; i < kTestCostFunctionSize; i++) {
+ for (int j = 0; j < kTestCostFunctionSize; j++) {
+ double actual = jac[i * kTestCostFunctionSize + j];
+ if (i != j) {
+ EXPECT_DOUBLE_EQ(0, actual);
+ } else {
+ EXPECT_DOUBLE_EQ(i + 2, actual);
+ }
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
