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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 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: vitus@google.com (Michael Vitus)
#include "ceres/internal/householder_vector.h"
#include "ceres/internal/eigen.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
namespace ceres {
namespace internal {
static void HouseholderTestHelper(const Vector& x) {
const double kTolerance = 1e-14;
// Check to ensure that H * x = ||x|| * [0 ... 0 1]'.
Vector v(x.rows());
double beta;
// NOTE: The explicit template arguments are needed here because
// ComputeHouseholderVector is templated and some versions of MSVC
// have trouble deducing the type of v automatically.
ComputeHouseholderVector<Vector, double, Eigen::Dynamic>(x, &v, &beta);
Vector result = x - beta * v * (v.transpose() * x);
Vector expected_result(x.rows());
expected_result.setZero();
expected_result(x.rows() - 1) = 1;
expected_result *= x.norm();
for (int i = 0; i < x.rows(); ++i) {
EXPECT_NEAR(expected_result[i], result[i], kTolerance);
}
}
TEST(HouseholderVector, ZeroPositive) {
Vector x(3);
x << 0.0, 0.0, 0.25;
HouseholderTestHelper(x);
}
TEST(HouseholderVector, ZeroNegative) {
Vector x(3);
x << 0.0, 0.0, -0.25;
HouseholderTestHelper(x);
}
TEST(HouseholderVector, NearZeroPositive) {
Vector x(3);
x << 1e-18, 1e-18, 0.25;
HouseholderTestHelper(x);
}
TEST(HouseholderVector, NearZeroNegative) {
Vector x(3);
x << 1e-18, 1e-18, -0.25;
HouseholderTestHelper(x);
}
TEST(HouseholderVector, NonZeroNegative) {
Vector x(3);
x << 1.0, 0.0, -3.0;
HouseholderTestHelper(x);
}
TEST(HouseholderVector, NonZeroPositive) {
Vector x(3);
x << 1.0, 1.0, 1.0;
HouseholderTestHelper(x);
}
TEST(HouseholderVector, NonZeroPositive_Size4) {
Vector x(4);
x << 1.0, 1.0, 0.0, 2.0;
HouseholderTestHelper(x);
}
TEST(HouseholderVector, LastElementZero) {
Vector x(4);
x << 1.0, 1.0, 0.0, 0.0;
HouseholderTestHelper(x);
}
} // namespace internal
} // namespace ceres