| // Ceres Solver - A fast non-linear least squares minimizer | |
| // Copyright 2023 Google Inc. All rights reserved. | |
| // http://ceres-solver.org/ | |
| // | |
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| // modification, are permitted provided that the following conditions are met: | |
| // | |
| // * Redistributions of source code must retain the above copyright notice, | |
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| // * 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. | |
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| // specific prior written permission. | |
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| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
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| // | |
| // Author: sameeragarwal@google.com (Sameer Agarwal) | |
| #include <limits> | |
| #include <memory> | |
| #include "ceres/ceres.h" | |
| #include "gtest/gtest.h" | |
| namespace ceres::internal { | |
| class QuadraticFirstOrderFunction : public ceres::FirstOrderFunction { | |
| public: | |
| bool Evaluate(const double* parameters, | |
| double* cost, | |
| double* gradient) const final { | |
| cost[0] = parameters[0] * parameters[0]; | |
| if (gradient != nullptr) { | |
| gradient[0] = 2.0 * parameters[0]; | |
| } | |
| return true; | |
| } | |
| int NumParameters() const final { return 1; } | |
| }; | |
| TEST(LineSearchMinimizerTest, FinalCostIsZero) { | |
| double parameters[1] = {2.0}; | |
| ceres::GradientProblem problem( | |
| std::make_unique<QuadraticFirstOrderFunction>()); | |
| ceres::GradientProblemSolver::Options options; | |
| ceres::GradientProblemSolver::Summary summary; | |
| ceres::Solve(options, problem, parameters, &summary); | |
| EXPECT_NEAR(summary.final_cost, 0.0, std::numeric_limits<double>::epsilon()); | |
| } | |
| } // namespace ceres::internal |