| // 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 "expression_test.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| TEST(Expression, AssignmentElimination) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| T a(2); |
| T b; |
| b = a; |
| auto graph = StopRecordingExpressions(); |
| |
| // b is invalid during the assignment so we expect no expression to be |
| // generated. The only expression in the graph should be the constant |
| // assignment to a. |
| EXPECT_EQ(graph.Size(), 1); |
| |
| // Expected code |
| // v_0 = 2; |
| |
| // clang-format off |
| // Id Type Lhs Value Name Arguments |
| CHECK_EXPRESSION(0, COMPILE_TIME_CONSTANT, 0, 2, "",); |
| // clang-format on |
| |
| // Variables after execution: |
| // |
| // a <=> v_0 |
| // b <=> v_0 |
| EXPECT_EQ(a.id, 0); |
| EXPECT_EQ(b.id, 0); |
| } |
| |
| TEST(Expression, Assignment) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| T a(2); |
| T b(4); |
| b = a; |
| auto graph = StopRecordingExpressions(); |
| |
| // b is valid during the assignment so we expect an |
| // additional assignment expression. |
| EXPECT_EQ(graph.Size(), 3); |
| |
| // Expected code |
| // v_0 = 2; |
| // v_1 = 4; |
| // v_1 = v_0; |
| |
| // clang-format off |
| // Id, Type, Lhs, Value, Name, Arguments |
| CHECK_EXPRESSION( 0, COMPILE_TIME_CONSTANT, 0, 2, "", ); |
| CHECK_EXPRESSION( 1, COMPILE_TIME_CONSTANT, 1, 4, "", ); |
| CHECK_EXPRESSION( 2, ASSIGNMENT, 1, 0, "", 0); |
| // clang-format on |
| |
| // Variables after execution: |
| // |
| // a <=> v_0 |
| // b <=> v_1 |
| EXPECT_EQ(a.id, 0); |
| EXPECT_EQ(b.id, 1); |
| } |
| |
| 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); |
| |
| // clang-format off |
| // Id, Type, Lhs, Value, Name, Arguments... |
| CHECK_EXPRESSION( 0, COMPILE_TIME_CONSTANT, 0, 2, "", ); |
| CHECK_EXPRESSION( 1, COMPILE_TIME_CONSTANT, 1, 3, "", ); |
| CHECK_EXPRESSION( 2, BINARY_COMPARISON, 2, 0, "<", 0, 1); |
| CHECK_EXPRESSION( 3, IF, -1, 0, "", 2); |
| CHECK_EXPRESSION( 4, ELSE, -1, 0, "", ); |
| CHECK_EXPRESSION( 5, ENDIF, -1, 0, "", ); |
| // clang-format on |
| } |
| |
| 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; |
| |
| // clang-format off |
| // Id, Type, Lhs, Value, Name, Arguments... |
| CHECK_EXPRESSION( 0, COMPILE_TIME_CONSTANT, 0, 2, "", ); |
| CHECK_EXPRESSION( 1, COMPILE_TIME_CONSTANT, 1, 3, "", ); |
| CHECK_EXPRESSION( 2, BINARY_COMPARISON, 2, 0, "<", 0, 1); |
| CHECK_EXPRESSION( 3, IF, -1, 0, "", 2); |
| CHECK_EXPRESSION( 4, BINARY_ARITHMETIC, 4, 0, "+", 0, 1); |
| CHECK_EXPRESSION( 5, ELSE, -1, 0, "", ); |
| CHECK_EXPRESSION( 6, BINARY_ARITHMETIC, 6, 0, "-", 0, 1); |
| CHECK_EXPRESSION( 7, ASSIGNMENT, 4, 0, "", 6 ); |
| CHECK_EXPRESSION( 8, ENDIF, -1, 0, "", ); |
| CHECK_EXPRESSION( 9, BINARY_ARITHMETIC, 9, 0, "+", 4, 0); |
| CHECK_EXPRESSION( 10, ASSIGNMENT, 4, 0, "", 9 ); |
| // clang-format on |
| |
| // 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 |