Move the manifold testing matchers to manifold_test_utils.h
Change-Id: Ie295fdf32e056f30b5b533df11755e2674d4dad6
diff --git a/include/ceres/manifold_test_utils.h b/include/ceres/manifold_test_utils.h
new file mode 100644
index 0000000..3f9fb21
--- /dev/null
+++ b/include/ceres/manifold_test_utils.h
@@ -0,0 +1,328 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2022 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 <cmath>
+#include <limits>
+#include <memory>
+
+#include "ceres/dynamic_numeric_diff_cost_function.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/manifold.h"
+#include "ceres/numeric_diff_options.h"
+#include "ceres/types.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+
+// Matchers and macros for help with testing Manifold objects.
+//
+// Testing a Manifold has two parts.
+//
+// 1. Checking that Manifold::Plus is correctly defined. This requires per
+// manifold tests.
+//
+// 2. The other methods of the manifold have mathematical properties that make
+// it compatible with Plus, as described in:
+//
+// "Integrating Generic Sensor Fusion Algorithms with Sound State
+// Representations through Encapsulation of Manifolds"
+// By C. Hertzberg, R. Wagner, U. Frese and L. Schroder
+// https://arxiv.org/pdf/1107.1119.pdf
+//
+// These tests are implemented using generic matchers defined below which can
+// all be called by the macro EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x,
+// delta, y, tolerance). See manifold_test.cc for example usage.
+
+// Checks that the invariant Plus(x, 0) == x holds.
+MATCHER_P2(XPlusZeroIsXAt, x, tolerance, "") {
+ const int ambient_size = arg.AmbientSize();
+ const int tangent_size = arg.TangentSize();
+
+ Vector actual = Vector::Zero(ambient_size);
+ Vector zero = Vector::Zero(tangent_size);
+ EXPECT_TRUE(arg.Plus(x.data(), zero.data(), actual.data()));
+ const double n = (actual - x).norm();
+ const double d = x.norm();
+ const double diffnorm = (d == 0.0) ? n : (n / d);
+ if (diffnorm > tolerance) {
+ *result_listener << "\nexpected (x): " << x.transpose()
+ << "\nactual: " << actual.transpose()
+ << "\ndiffnorm: " << diffnorm;
+ return false;
+ }
+ return true;
+}
+
+// Checks that the invariant Minus(x, x) == 0 holds.
+MATCHER_P2(XMinusXIsZeroAt, x, tolerance, "") {
+ const int tangent_size = arg.TangentSize();
+ Vector actual = Vector::Zero(tangent_size);
+ EXPECT_TRUE(arg.Minus(x.data(), x.data(), actual.data()));
+ const double diffnorm = actual.norm();
+ if (diffnorm > tolerance) {
+ *result_listener << "\nx: " << x.transpose() //
+ << "\nexpected: 0 0 0"
+ << "\nactual: " << actual.transpose()
+ << "\ndiffnorm: " << diffnorm;
+ return false;
+ }
+ return true;
+}
+
+// Helper struct to curry Plus(x, .) so that it can be numerically
+// differentiated.
+struct PlusFunctor {
+ PlusFunctor(const Manifold& manifold, const double* x)
+ : manifold(manifold), x(x) {}
+ bool operator()(double const* const* parameters, double* x_plus_delta) const {
+ return manifold.Plus(x, parameters[0], x_plus_delta);
+ }
+
+ const Manifold& manifold;
+ const double* x;
+};
+
+// Checks that the output of PlusJacobian matches the one obtained by
+// numerically evaluating D_2 Plus(x,0).
+MATCHER_P2(HasCorrectPlusJacobianAt, x, tolerance, "") {
+ const int ambient_size = arg.AmbientSize();
+ const int tangent_size = arg.TangentSize();
+
+ NumericDiffOptions options;
+ options.ridders_relative_initial_step_size = 1e-4;
+
+ DynamicNumericDiffCostFunction<PlusFunctor, RIDDERS> cost_function(
+ new PlusFunctor(arg, x.data()), TAKE_OWNERSHIP, options);
+ cost_function.AddParameterBlock(tangent_size);
+ cost_function.SetNumResiduals(ambient_size);
+
+ Vector zero = Vector::Zero(tangent_size);
+ double* parameters[1] = {zero.data()};
+
+ Vector x_plus_zero = Vector::Zero(ambient_size);
+ Matrix expected = Matrix::Zero(ambient_size, tangent_size);
+ double* jacobians[1] = {expected.data()};
+
+ EXPECT_TRUE(
+ cost_function.Evaluate(parameters, x_plus_zero.data(), jacobians));
+
+ Matrix actual = Matrix::Random(ambient_size, tangent_size);
+ EXPECT_TRUE(arg.PlusJacobian(x.data(), actual.data()));
+
+ const double n = (actual - expected).norm();
+ const double d = expected.norm();
+ const double diffnorm = (d == 0.0) ? n : n / d;
+ if (diffnorm > tolerance) {
+ *result_listener << "\nx: " << x.transpose() << "\nexpected: \n"
+ << expected << "\nactual:\n"
+ << actual << "\ndiff:\n"
+ << expected - actual << "\ndiffnorm : " << diffnorm;
+ return false;
+ }
+ return true;
+}
+
+// Checks that the invariant Minus(Plus(x, delta), x) == delta holds.
+MATCHER_P3(MinusPlusIsIdentityAt, x, delta, tolerance, "") {
+ const int ambient_size = arg.AmbientSize();
+ const int tangent_size = arg.TangentSize();
+ Vector x_plus_delta = Vector::Zero(ambient_size);
+ EXPECT_TRUE(arg.Plus(x.data(), delta.data(), x_plus_delta.data()));
+ Vector actual = Vector::Zero(tangent_size);
+ EXPECT_TRUE(arg.Minus(x_plus_delta.data(), x.data(), actual.data()));
+
+ const double n = (actual - delta).norm();
+ const double d = delta.norm();
+ const double diffnorm = (d == 0.0) ? n : (n / d);
+ if (diffnorm > tolerance) {
+ *result_listener << "\nx: " << x.transpose()
+ << "\nexpected: " << delta.transpose()
+ << "\nactual:" << actual.transpose()
+ << "\ndiff:" << (delta - actual).transpose()
+ << "\ndiffnorm: " << diffnorm;
+ return false;
+ }
+ return true;
+}
+
+// Checks that the invariant Plus(Minus(y, x), x) == y holds.
+MATCHER_P3(PlusMinusIsIdentityAt, x, y, tolerance, "") {
+ const int ambient_size = arg.AmbientSize();
+ const int tangent_size = arg.TangentSize();
+
+ Vector y_minus_x = Vector::Zero(tangent_size);
+ EXPECT_TRUE(arg.Minus(y.data(), x.data(), y_minus_x.data()));
+
+ Vector actual = Vector::Zero(ambient_size);
+ EXPECT_TRUE(arg.Plus(x.data(), y_minus_x.data(), actual.data()));
+
+ const double n = (actual - y).norm();
+ const double d = y.norm();
+ const double diffnorm = (d == 0.0) ? n : (n / d);
+ if (diffnorm > tolerance) {
+ *result_listener << "\nx: " << x.transpose()
+ << "\nexpected: " << y.transpose()
+ << "\nactual:" << actual.transpose()
+ << "\ndiff:" << (y - actual).transpose()
+ << "\ndiffnorm: " << diffnorm;
+ return false;
+ }
+ return true;
+}
+
+// Helper struct to curry Minus(., x) so that it can be numerically
+// differentiated.
+struct MinusFunctor {
+ MinusFunctor(const Manifold& manifold, const double* x)
+ : manifold(manifold), x(x) {}
+ bool operator()(double const* const* parameters, double* y_minus_x) const {
+ return manifold.Minus(parameters[0], x, y_minus_x);
+ }
+
+ const Manifold& manifold;
+ const double* x;
+};
+
+// Checks that the output of MinusJacobian matches the one obtained by
+// numerically evaluating D_1 Minus(x,x).
+MATCHER_P2(HasCorrectMinusJacobianAt, x, tolerance, "") {
+ const int ambient_size = arg.AmbientSize();
+ const int tangent_size = arg.TangentSize();
+
+ Vector y = x;
+ Vector y_minus_x = Vector::Zero(tangent_size);
+
+ NumericDiffOptions options;
+ options.ridders_relative_initial_step_size = 1e-4;
+ DynamicNumericDiffCostFunction<MinusFunctor, RIDDERS> cost_function(
+ new MinusFunctor(arg, x.data()), TAKE_OWNERSHIP, options);
+ cost_function.AddParameterBlock(ambient_size);
+ cost_function.SetNumResiduals(tangent_size);
+
+ double* parameters[1] = {y.data()};
+
+ Matrix expected = Matrix::Zero(tangent_size, ambient_size);
+ double* jacobians[1] = {expected.data()};
+
+ EXPECT_TRUE(cost_function.Evaluate(parameters, y_minus_x.data(), jacobians));
+
+ Matrix actual = Matrix::Random(tangent_size, ambient_size);
+ EXPECT_TRUE(arg.MinusJacobian(x.data(), actual.data()));
+
+ const double n = (actual - expected).norm();
+ const double d = expected.norm();
+ const double diffnorm = (d == 0.0) ? n : (n / d);
+ if (diffnorm > tolerance) {
+ *result_listener << "\nx: " << x.transpose() << "\nexpected: \n"
+ << expected << "\nactual:\n"
+ << actual << "\ndiff:\n"
+ << expected - actual << "\ndiffnorm: " << diffnorm;
+ return false;
+ }
+ return true;
+}
+
+// Checks that D_delta Minus(Plus(x, delta), x) at delta = 0 is an identity
+// matrix.
+MATCHER_P2(MinusPlusJacobianIsIdentityAt, x, tolerance, "") {
+ const int ambient_size = arg.AmbientSize();
+ const int tangent_size = arg.TangentSize();
+
+ Matrix plus_jacobian(ambient_size, tangent_size);
+ EXPECT_TRUE(arg.PlusJacobian(x.data(), plus_jacobian.data()));
+ Matrix minus_jacobian(tangent_size, ambient_size);
+ EXPECT_TRUE(arg.MinusJacobian(x.data(), minus_jacobian.data()));
+
+ const Matrix actual = minus_jacobian * plus_jacobian;
+ const Matrix expected = Matrix::Identity(tangent_size, tangent_size);
+
+ const double n = (actual - expected).norm();
+ const double d = expected.norm();
+ const double diffnorm = n / d;
+ if (diffnorm > tolerance) {
+ *result_listener << "\nx: " << x.transpose() << "\nexpected: \n"
+ << expected << "\nactual:\n"
+ << actual << "\ndiff:\n"
+ << expected - actual << "\ndiffnorm: " << diffnorm;
+
+ return false;
+ }
+ return true;
+}
+
+// Verify that the output of RightMultiplyByPlusJacobian is ambient_matrix *
+// plus_jacobian.
+MATCHER_P2(HasCorrectRightMultiplyByPlusJacobianAt, x, tolerance, "") {
+ const int ambient_size = arg.AmbientSize();
+ const int tangent_size = arg.TangentSize();
+
+ constexpr int kMinNumRows = 0;
+ constexpr int kMaxNumRows = 3;
+ for (int num_rows = kMinNumRows; num_rows <= kMaxNumRows; ++num_rows) {
+ Matrix plus_jacobian = Matrix::Random(ambient_size, tangent_size);
+ EXPECT_TRUE(arg.PlusJacobian(x.data(), plus_jacobian.data()));
+
+ Matrix ambient_matrix = Matrix::Random(num_rows, ambient_size);
+ Matrix expected = ambient_matrix * plus_jacobian;
+
+ Matrix actual = Matrix::Random(num_rows, tangent_size);
+ EXPECT_TRUE(arg.RightMultiplyByPlusJacobian(
+ x.data(), num_rows, ambient_matrix.data(), actual.data()));
+ const double n = (actual - expected).norm();
+ const double d = expected.norm();
+ const double diffnorm = (d == 0.0) ? n : (n / d);
+ if (diffnorm > tolerance) {
+ *result_listener << "\nx: " << x.transpose() << "\nambient_matrix : \n"
+ << ambient_matrix << "\nplus_jacobian : \n"
+ << plus_jacobian << "\nexpected: \n"
+ << expected << "\nactual:\n"
+ << actual << "\ndiff:\n"
+ << expected - actual << "\ndiffnorm : " << diffnorm;
+ return false;
+ }
+ }
+ return true;
+}
+
+#define EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, tolerance) \
+ Vector zero_tangent = Vector::Zero(manifold.TangentSize()); \
+ EXPECT_THAT(manifold, XPlusZeroIsXAt(x, tolerance)); \
+ EXPECT_THAT(manifold, XMinusXIsZeroAt(x, tolerance)); \
+ EXPECT_THAT(manifold, MinusPlusIsIdentityAt(x, delta, tolerance)); \
+ EXPECT_THAT(manifold, MinusPlusIsIdentityAt(x, zero_tangent, tolerance)); \
+ EXPECT_THAT(manifold, PlusMinusIsIdentityAt(x, x, tolerance)); \
+ EXPECT_THAT(manifold, PlusMinusIsIdentityAt(x, y, tolerance)); \
+ EXPECT_THAT(manifold, HasCorrectPlusJacobianAt(x, tolerance)); \
+ EXPECT_THAT(manifold, HasCorrectMinusJacobianAt(x, tolerance)); \
+ EXPECT_THAT(manifold, MinusPlusJacobianIsIdentityAt(x, tolerance)); \
+ EXPECT_THAT(manifold, HasCorrectRightMultiplyByPlusJacobianAt(x, tolerance));
+
+} // namespace ceres
diff --git a/internal/ceres/manifold_test.cc b/internal/ceres/manifold_test.cc
index 73a6138..e7d875e 100644
--- a/internal/ceres/manifold_test.cc
+++ b/internal/ceres/manifold_test.cc
@@ -37,6 +37,7 @@
#include "Eigen/Geometry"
#include "ceres/dynamic_numeric_diff_cost_function.h"
#include "ceres/internal/eigen.h"
+#include "ceres/manifold_test_utils.h"
#include "ceres/numeric_diff_options.h"
#include "ceres/rotation.h"
#include "ceres/types.h"
@@ -46,286 +47,8 @@
namespace ceres {
namespace internal {
-// TODO(sameeragarwal): Once these helpers and matchers converge, it would be
-// helpful to expose them as testing utilities which can be used by the user
-// when implementing their own manifold objects.
-
-// The tests in this file are in two parts.
-//
-// 1. Manifold::Plus is doing what is expected. This requires per manifold
-// logic.
-// 2. The other methods of the manifold have mathematical properties that
-// make it compatible with Plus, as described in
-// https://arxiv.org/pdf/1107.1119.pdf. These tests are implemented using
-// generic matchers defined below which can all be called by the macro
-// EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y)
-
constexpr int kNumTrials = 1000;
-constexpr double kEpsilon = 1e-9;
-
-// Checks that the invariant Plus(x, 0) == x holds.
-MATCHER_P(XPlusZeroIsXAt, x, "") {
- const int ambient_size = arg.AmbientSize();
- const int tangent_size = arg.TangentSize();
-
- Vector actual = Vector::Zero(ambient_size);
- Vector zero = Vector::Zero(tangent_size);
- EXPECT_TRUE(arg.Plus(x.data(), zero.data(), actual.data()));
- const double n = (actual - x).norm();
- const double d = x.norm();
- const double diffnorm = (d == 0.0) ? n : (n / d);
- if (diffnorm > kEpsilon) {
- *result_listener << "\nexpected (x): " << x.transpose()
- << "\nactual: " << actual.transpose()
- << "\ndiffnorm: " << diffnorm;
- return false;
- }
- return true;
-}
-
-// Checks that the invariant Minus(x, x) == 0 holds.
-MATCHER_P(XMinusXIsZeroAt, x, "") {
- const int tangent_size = arg.TangentSize();
- Vector actual = Vector::Zero(tangent_size);
- EXPECT_TRUE(arg.Minus(x.data(), x.data(), actual.data()));
- const double diffnorm = actual.norm();
- if (diffnorm > kEpsilon) {
- *result_listener << "\nx: " << x.transpose() //
- << "\nexpected: 0 0 0"
- << "\nactual: " << actual.transpose()
- << "\ndiffnorm: " << diffnorm;
- return false;
- }
- return true;
-}
-
-// Helper struct to curry Plus(x, .) so that it can be numerically
-// differentiated.
-struct PlusFunctor {
- PlusFunctor(const Manifold& manifold, const double* x)
- : manifold(manifold), x(x) {}
- bool operator()(double const* const* parameters, double* x_plus_delta) const {
- return manifold.Plus(x, parameters[0], x_plus_delta);
- }
-
- const Manifold& manifold;
- const double* x;
-};
-
-// Checks that the output of PlusJacobian matches the one obtained by
-// numerically evaluating D_2 Plus(x,0).
-MATCHER_P(HasCorrectPlusJacobianAt, x, "") {
- const int ambient_size = arg.AmbientSize();
- const int tangent_size = arg.TangentSize();
-
- NumericDiffOptions options;
- options.ridders_relative_initial_step_size = 1e-4;
-
- DynamicNumericDiffCostFunction<PlusFunctor, RIDDERS> cost_function(
- new PlusFunctor(arg, x.data()), TAKE_OWNERSHIP, options);
- cost_function.AddParameterBlock(tangent_size);
- cost_function.SetNumResiduals(ambient_size);
-
- Vector zero = Vector::Zero(tangent_size);
- double* parameters[1] = {zero.data()};
-
- Vector x_plus_zero = Vector::Zero(ambient_size);
- Matrix expected = Matrix::Zero(ambient_size, tangent_size);
- double* jacobians[1] = {expected.data()};
-
- EXPECT_TRUE(
- cost_function.Evaluate(parameters, x_plus_zero.data(), jacobians));
-
- Matrix actual = Matrix::Random(ambient_size, tangent_size);
- EXPECT_TRUE(arg.PlusJacobian(x.data(), actual.data()));
-
- const double n = (actual - expected).norm();
- const double d = expected.norm();
- const double diffnorm = (d == 0.0) ? n : n / d;
- if (diffnorm > kEpsilon) {
- *result_listener << "\nx: " << x.transpose() << "\nexpected: \n"
- << expected << "\nactual:\n"
- << actual << "\ndiff:\n"
- << expected - actual << "\ndiffnorm : " << diffnorm;
- return false;
- }
- return true;
-}
-
-// Checks that the invariant Minus(Plus(x, delta), x) == delta holds.
-MATCHER_P2(MinusPlusIsIdentityAt, x, delta, "") {
- const int ambient_size = arg.AmbientSize();
- const int tangent_size = arg.TangentSize();
- Vector x_plus_delta = Vector::Zero(ambient_size);
- EXPECT_TRUE(arg.Plus(x.data(), delta.data(), x_plus_delta.data()));
- Vector actual = Vector::Zero(tangent_size);
- EXPECT_TRUE(arg.Minus(x_plus_delta.data(), x.data(), actual.data()));
-
- const double n = (actual - delta).norm();
- const double d = delta.norm();
- const double diffnorm = (d == 0.0) ? n : (n / d);
- if (diffnorm > kEpsilon) {
- *result_listener << "\nx: " << x.transpose()
- << "\nexpected: " << delta.transpose()
- << "\nactual:" << actual.transpose()
- << "\ndiff:" << (delta - actual).transpose()
- << "\ndiffnorm: " << diffnorm;
- return false;
- }
- return true;
-}
-
-// Checks that the invariant Plus(Minus(y, x), x) == y holds.
-MATCHER_P2(PlusMinusIsIdentityAt, x, y, "") {
- const int ambient_size = arg.AmbientSize();
- const int tangent_size = arg.TangentSize();
-
- Vector y_minus_x = Vector::Zero(tangent_size);
- EXPECT_TRUE(arg.Minus(y.data(), x.data(), y_minus_x.data()));
-
- Vector actual = Vector::Zero(ambient_size);
- EXPECT_TRUE(arg.Plus(x.data(), y_minus_x.data(), actual.data()));
-
- const double n = (actual - y).norm();
- const double d = y.norm();
- const double diffnorm = (d == 0.0) ? n : (n / d);
- if (diffnorm > kEpsilon) {
- *result_listener << "\nx: " << x.transpose()
- << "\nexpected: " << y.transpose()
- << "\nactual:" << actual.transpose()
- << "\ndiff:" << (y - actual).transpose()
- << "\ndiffnorm: " << diffnorm;
- return false;
- }
- return true;
-}
-
-// Helper struct to curry Minus(., x) so that it can be numerically
-// differentiated.
-struct MinusFunctor {
- MinusFunctor(const Manifold& manifold, const double* x)
- : manifold(manifold), x(x) {}
- bool operator()(double const* const* parameters, double* y_minus_x) const {
- return manifold.Minus(parameters[0], x, y_minus_x);
- }
-
- const Manifold& manifold;
- const double* x;
-};
-
-// Checks that the output of MinusJacobian matches the one obtained by
-// numerically evaluating D_1 Minus(x,x).
-MATCHER_P(HasCorrectMinusJacobianAt, x, "") {
- const int ambient_size = arg.AmbientSize();
- const int tangent_size = arg.TangentSize();
-
- Vector y = x;
- Vector y_minus_x = Vector::Zero(tangent_size);
-
- NumericDiffOptions options;
- options.ridders_relative_initial_step_size = 1e-4;
- DynamicNumericDiffCostFunction<MinusFunctor, RIDDERS> cost_function(
- new MinusFunctor(arg, x.data()), TAKE_OWNERSHIP, options);
- cost_function.AddParameterBlock(ambient_size);
- cost_function.SetNumResiduals(tangent_size);
-
- double* parameters[1] = {y.data()};
-
- Matrix expected = Matrix::Zero(tangent_size, ambient_size);
- double* jacobians[1] = {expected.data()};
-
- EXPECT_TRUE(cost_function.Evaluate(parameters, y_minus_x.data(), jacobians));
-
- Matrix actual = Matrix::Random(tangent_size, ambient_size);
- EXPECT_TRUE(arg.MinusJacobian(x.data(), actual.data()));
-
- const double n = (actual - expected).norm();
- const double d = expected.norm();
- const double diffnorm = (d == 0.0) ? n : (n / d);
- if (diffnorm > kEpsilon) {
- *result_listener << "\nx: " << x.transpose() << "\nexpected: \n"
- << expected << "\nactual:\n"
- << actual << "\ndiff:\n"
- << expected - actual << "\ndiffnorm: " << diffnorm;
- return false;
- }
- return true;
-}
-
-// Checks that D_delta Minus(Plus(x, delta), x) at delta = 0 is an identity
-// matrix.
-MATCHER_P(MinusPlusJacobianIsIdentityAt, x, "") {
- const int ambient_size = arg.AmbientSize();
- const int tangent_size = arg.TangentSize();
-
- Matrix plus_jacobian(ambient_size, tangent_size);
- EXPECT_TRUE(arg.PlusJacobian(x.data(), plus_jacobian.data()));
- Matrix minus_jacobian(tangent_size, ambient_size);
- EXPECT_TRUE(arg.MinusJacobian(x.data(), minus_jacobian.data()));
-
- const Matrix actual = minus_jacobian * plus_jacobian;
- const Matrix expected = Matrix::Identity(tangent_size, tangent_size);
-
- const double n = (actual - expected).norm();
- const double d = expected.norm();
- const double diffnorm = n / d;
- if (diffnorm > kEpsilon) {
- *result_listener << "\nx: " << x.transpose() << "\nexpected: \n"
- << expected << "\nactual:\n"
- << actual << "\ndiff:\n"
- << expected - actual << "\ndiffnorm: " << diffnorm;
-
- return false;
- }
- return true;
-}
-
-// Verify that the output of RightMultiplyByPlusJacobian is ambient_matrix *
-// plus_jacobian.
-MATCHER_P(HasCorrectRightMultiplyByPlusJacobianAt, x, "") {
- const int ambient_size = arg.AmbientSize();
- const int tangent_size = arg.TangentSize();
-
- constexpr int kMinNumRows = 0;
- constexpr int kMaxNumRows = 3;
- for (int num_rows = kMinNumRows; num_rows <= kMaxNumRows; ++num_rows) {
- Matrix plus_jacobian = Matrix::Random(ambient_size, tangent_size);
- EXPECT_TRUE(arg.PlusJacobian(x.data(), plus_jacobian.data()));
-
- Matrix ambient_matrix = Matrix::Random(num_rows, ambient_size);
- Matrix expected = ambient_matrix * plus_jacobian;
-
- Matrix actual = Matrix::Random(num_rows, tangent_size);
- EXPECT_TRUE(arg.RightMultiplyByPlusJacobian(
- x.data(), num_rows, ambient_matrix.data(), actual.data()));
- const double n = (actual - expected).norm();
- const double d = expected.norm();
- const double diffnorm = (d == 0.0) ? n : (n / d);
- if (diffnorm > kEpsilon) {
- *result_listener << "\nx: " << x.transpose() << "\nambient_matrix : \n"
- << ambient_matrix << "\nplus_jacobian : \n"
- << plus_jacobian << "\nexpected: \n"
- << expected << "\nactual:\n"
- << actual << "\ndiff:\n"
- << expected - actual << "\ndiffnorm : " << diffnorm;
- return false;
- }
- }
- return true;
-}
-
-#define EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y) \
- Vector zero_tangent = Vector::Zero(manifold.TangentSize()); \
- EXPECT_THAT(manifold, XPlusZeroIsXAt(x)); \
- EXPECT_THAT(manifold, XMinusXIsZeroAt(x)); \
- EXPECT_THAT(manifold, MinusPlusIsIdentityAt(x, delta)); \
- EXPECT_THAT(manifold, MinusPlusIsIdentityAt(x, zero_tangent)); \
- EXPECT_THAT(manifold, PlusMinusIsIdentityAt(x, x)); \
- EXPECT_THAT(manifold, PlusMinusIsIdentityAt(x, y)); \
- EXPECT_THAT(manifold, HasCorrectPlusJacobianAt(x)); \
- EXPECT_THAT(manifold, HasCorrectMinusJacobianAt(x)); \
- EXPECT_THAT(manifold, MinusPlusJacobianIsIdentityAt(x)); \
- EXPECT_THAT(manifold, HasCorrectRightMultiplyByPlusJacobianAt(x));
+constexpr double kTolerance = 1e-9;
TEST(EuclideanManifold, NormalFunctionTest) {
EuclideanManifold manifold(3);
@@ -340,10 +63,11 @@
Vector x_plus_delta = Vector::Zero(manifold.AmbientSize());
manifold.Plus(x.data(), delta.data(), x_plus_delta.data());
- EXPECT_NEAR(
- (x_plus_delta - x - delta).norm() / (x + delta).norm(), 0.0, kEpsilon);
+ EXPECT_NEAR((x_plus_delta - x - delta).norm() / (x + delta).norm(),
+ 0.0,
+ kTolerance);
- EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y);
+ EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, kTolerance);
}
}
@@ -356,9 +80,10 @@
Vector x_plus_delta = Vector::Zero(3);
manifold.Plus(x.data(), delta.data(), x_plus_delta.data());
- EXPECT_NEAR(
- (x_plus_delta - x - delta).norm() / (x + delta).norm(), 0.0, kEpsilon);
- EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y);
+ EXPECT_NEAR((x_plus_delta - x - delta).norm() / (x + delta).norm(),
+ 0.0,
+ kTolerance);
+ EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, kTolerance);
}
}
@@ -403,7 +128,7 @@
}
EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(
- manifold_with_ith_parameter_constant, x, delta, y);
+ manifold_with_ith_parameter_constant, x, delta, y, kTolerance);
}
}
}
@@ -497,7 +222,8 @@
EXPECT_EQ(x_plus_delta[i], x_plus_delta_expected[i]);
}
- EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, x_plus_delta);
+ EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(
+ manifold, x, delta, x_plus_delta, kTolerance);
}
}
@@ -521,7 +247,7 @@
EXPECT_EQ(x_plus_delta[1], x[1] + delta[0]);
EXPECT_EQ(x_plus_delta[2], x[2] + delta[1]);
- EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y);
+ EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, kTolerance);
}
}
@@ -543,7 +269,7 @@
EXPECT_EQ(x_plus_delta[0], x[0] + delta[0]);
EXPECT_EQ(x_plus_delta[1], x[1] + delta[1]);
EXPECT_EQ(x_plus_delta[2], x[2]);
- EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y);
+ EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, kTolerance);
}
}
@@ -576,7 +302,8 @@
<< "\n expected the " << j << "th element of x_plus_delta to be 0.";
}
}
- EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, x_plus_delta);
+ EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(
+ manifold, x, delta, x_plus_delta, kTolerance);
}
}
@@ -598,7 +325,7 @@
const double n = (actual - expected).norm();
const double d = expected.norm();
const double diffnorm = n / d;
- if (diffnorm > kEpsilon) {
+ if (diffnorm > kTolerance) {
*result_listener << "\nx: " << x.transpose()
<< "\ndelta: " << delta.transpose()
<< "\nexpected: " << expected.transpose()
@@ -623,7 +350,7 @@
const Vector y = RandomQuaternion();
Vector delta = Vector::Random(3);
EXPECT_THAT(manifold, QuaternionPlusIsCorrectAt(x, delta));
- EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y);
+ EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, kTolerance);
}
}
@@ -636,7 +363,7 @@
delta.normalize();
delta *= 1e-6;
EXPECT_THAT(manifold, QuaternionPlusIsCorrectAt(x, delta));
- EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y);
+ EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, kTolerance);
}
}
@@ -649,7 +376,7 @@
delta.normalize();
delta *= (M_PI - 1e-6);
EXPECT_THAT(manifold, QuaternionPlusIsCorrectAt(x, delta));
- EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y);
+ EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, kTolerance);
}
}
@@ -675,7 +402,7 @@
const double n = (actual_eigen_q.coeffs() - expected.coeffs()).norm();
const double d = expected.norm();
const double diffnorm = n / d;
- if (diffnorm > kEpsilon) {
+ if (diffnorm > kTolerance) {
*result_listener
<< "\nx: " << x.transpose() << "\ndelta: " << delta.transpose()
<< "\nexpected: " << expected.coeffs().transpose()
@@ -694,7 +421,7 @@
const Vector y = RandomQuaternion();
Vector delta = Vector::Random(3);
EXPECT_THAT(manifold, EigenQuaternionPlusIsCorrectAt(x, delta));
- EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y);
+ EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, kTolerance);
}
}
@@ -707,7 +434,7 @@
delta.normalize();
delta *= 1e-6;
EXPECT_THAT(manifold, EigenQuaternionPlusIsCorrectAt(x, delta));
- EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y);
+ EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, kTolerance);
}
}
@@ -720,7 +447,7 @@
delta.normalize();
delta *= (M_PI - 1e-6);
EXPECT_THAT(manifold, EigenQuaternionPlusIsCorrectAt(x, delta));
- EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y);
+ EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, kTolerance);
}
}
