| // 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 |
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| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| // 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) |
| // |
| // This file tests the ExpressionGraph class. This test depends on the |
| // correctness of Expression. |
| // |
| #include "ceres/codegen/internal/expression.h" |
| #include "ceres/codegen/internal/expression_graph.h" |
| |
| #include "gtest/gtest.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| TEST(ExpressionGraph, Size) { |
| ExpressionGraph graph; |
| EXPECT_EQ(graph.Size(), 0); |
| // Insert 3 NOPs |
| graph.InsertBack(Expression()); |
| graph.InsertBack(Expression()); |
| graph.InsertBack(Expression()); |
| EXPECT_EQ(graph.Size(), 3); |
| } |
| |
| TEST(ExpressionGraph, Recording) { |
| EXPECT_EQ(GetCurrentExpressionGraph(), nullptr); |
| StartRecordingExpressions(); |
| EXPECT_NE(GetCurrentExpressionGraph(), nullptr); |
| auto graph = StopRecordingExpressions(); |
| EXPECT_EQ(graph, ExpressionGraph()); |
| EXPECT_EQ(GetCurrentExpressionGraph(), nullptr); |
| } |
| |
| TEST(ExpressionGraph, InsertBackControl) { |
| // Control expression are inserted to the back without any modifications. |
| auto expr1 = Expression::CreateIf(ExpressionId(0)); |
| auto expr2 = Expression::CreateElse(); |
| auto expr3 = Expression::CreateEndIf(); |
| |
| ExpressionGraph graph; |
| graph.InsertBack(expr1); |
| graph.InsertBack(expr2); |
| graph.InsertBack(expr3); |
| |
| EXPECT_EQ(graph.Size(), 3); |
| EXPECT_EQ(graph.ExpressionForId(0), expr1); |
| EXPECT_EQ(graph.ExpressionForId(1), expr2); |
| EXPECT_EQ(graph.ExpressionForId(2), expr3); |
| } |
| |
| TEST(ExpressionGraph, InsertBackNewVariable) { |
| // If an arithmetic expression with lhs=kinvalidValue is inserted in the back, |
| // then a new variable name is created and set to the lhs_id. |
| auto expr1 = Expression::CreateCompileTimeConstant(42); |
| auto expr2 = Expression::CreateCompileTimeConstant(10); |
| auto expr3 = |
| Expression::CreateBinaryArithmetic("+", ExpressionId(0), ExpressionId(1)); |
| |
| ExpressionGraph graph; |
| graph.InsertBack(expr1); |
| graph.InsertBack(expr2); |
| graph.InsertBack(expr3); |
| EXPECT_EQ(graph.Size(), 3); |
| |
| // The ExpressionGraph has a copy of the inserted expression with the correct |
| // lhs_ids. We set them here manually for comparision. |
| expr1.set_lhs_id(0); |
| expr2.set_lhs_id(1); |
| expr3.set_lhs_id(2); |
| EXPECT_EQ(graph.ExpressionForId(0), expr1); |
| EXPECT_EQ(graph.ExpressionForId(1), expr2); |
| EXPECT_EQ(graph.ExpressionForId(2), expr3); |
| } |
| |
| TEST(ExpressionGraph, InsertBackExistingVariable) { |
| auto expr1 = Expression::CreateCompileTimeConstant(42); |
| auto expr2 = Expression::CreateCompileTimeConstant(10); |
| auto expr3 = Expression::CreateAssignment(1, 0); |
| |
| ExpressionGraph graph; |
| graph.InsertBack(expr1); |
| graph.InsertBack(expr2); |
| graph.InsertBack(expr3); |
| EXPECT_EQ(graph.Size(), 3); |
| |
| expr1.set_lhs_id(0); |
| expr2.set_lhs_id(1); |
| expr3.set_lhs_id(1); |
| EXPECT_EQ(graph.ExpressionForId(0), expr1); |
| EXPECT_EQ(graph.ExpressionForId(1), expr2); |
| EXPECT_EQ(graph.ExpressionForId(2), expr3); |
| } |
| |
| TEST(ExpressionGraph, DependsOn) { |
| ExpressionGraph graph; |
| graph.InsertBack(Expression::CreateCompileTimeConstant(42)); |
| graph.InsertBack(Expression::CreateCompileTimeConstant(10)); |
| graph.InsertBack(Expression::CreateBinaryArithmetic( |
| "+", ExpressionId(0), ExpressionId(1))); |
| graph.InsertBack(Expression::CreateBinaryArithmetic( |
| "+", ExpressionId(2), ExpressionId(0))); |
| |
| // Code: |
| // v_0 = 42 |
| // v_1 = 10 |
| // v_2 = v_0 + v_1 |
| // v_3 = v_2 + v_0 |
| |
| // Direct dependencies dependency check |
| ASSERT_TRUE(graph.DependsOn(2, 0)); |
| ASSERT_TRUE(graph.DependsOn(2, 1)); |
| ASSERT_TRUE(graph.DependsOn(3, 2)); |
| ASSERT_TRUE(graph.DependsOn(3, 0)); |
| ASSERT_FALSE(graph.DependsOn(1, 0)); |
| ASSERT_FALSE(graph.DependsOn(1, 1)); |
| ASSERT_FALSE(graph.DependsOn(2, 3)); |
| |
| // Recursive test |
| ASSERT_TRUE(graph.DependsOn(3, 1)); |
| } |
| |
| TEST(ExpressionGraph, InsertExpression_UpdateReferences) { |
| // This test checks if references to shifted expressions are updated |
| // accordingly. |
| ExpressionGraph graph; |
| graph.InsertBack(Expression::CreateCompileTimeConstant(42)); |
| graph.InsertBack(Expression::CreateCompileTimeConstant(10)); |
| graph.InsertBack(Expression::CreateBinaryArithmetic( |
| "+", ExpressionId(0), ExpressionId(1))); |
| // Code: |
| // v_0 = 42 |
| // v_1 = 10 |
| // v_2 = v_0 + v_1 |
| |
| // Insert another compile time constant at the beginning |
| graph.Insert(0, Expression::CreateCompileTimeConstant(5)); |
| // This should shift all indices like this: |
| // v_0 = 5 |
| // v_1 = 42 |
| // v_2 = 10 |
| // v_3 = v_1 + v_2 |
| |
| // Test by inserting it in the correct order |
| ExpressionGraph ref; |
| ref.InsertBack(Expression::CreateCompileTimeConstant(5)); |
| ref.InsertBack(Expression::CreateCompileTimeConstant(42)); |
| ref.InsertBack(Expression::CreateCompileTimeConstant(10)); |
| ref.InsertBack(Expression::CreateBinaryArithmetic( |
| "+", ExpressionId(1), ExpressionId(2))); |
| EXPECT_EQ(graph.Size(), ref.Size()); |
| EXPECT_EQ(graph, ref); |
| } |
| |
| } // namespace internal |
| } // namespace ceres |