| // 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) |
| // |
| // Test expression creation and logic. |
| |
| #include "ceres/codegen/internal/expression_graph.h" |
| #include "ceres/codegen/internal/expression_ref.h" |
| |
| #include "gtest/gtest.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| TEST(ExpressionGraph, Creation) { |
| using T = ExpressionRef; |
| ExpressionGraph graph; |
| |
| StartRecordingExpressions(); |
| graph = StopRecordingExpressions(); |
| EXPECT_EQ(graph.Size(), 0); |
| |
| StartRecordingExpressions(); |
| T a(1); |
| T b(2); |
| T c = a + b; |
| graph = StopRecordingExpressions(); |
| EXPECT_EQ(graph.Size(), 3); |
| } |
| |
| TEST(ExpressionGraph, Dependencies) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| |
| T unused(6); |
| T a(2), b(3); |
| T c = a + b; |
| T d = c + a; |
| |
| auto tree = StopRecordingExpressions(); |
| |
| // Recursive dependency check |
| ASSERT_TRUE(tree.DependsOn(d.id, c.id)); |
| ASSERT_TRUE(tree.DependsOn(d.id, a.id)); |
| ASSERT_TRUE(tree.DependsOn(d.id, b.id)); |
| ASSERT_FALSE(tree.DependsOn(d.id, unused.id)); |
| } |
| |
| TEST(ExpressionGraph, InsertExpression_UpdateReferences) { |
| // This test checks if references to shifted expressions are updated |
| // accordingly. |
| using T = ExpressionRef; |
| StartRecordingExpressions(); |
| T a(2); // 0 |
| T b(3); // 1 |
| T c = a + b; // 2 |
| auto graph = StopRecordingExpressions(); |
| |
| // Test if 'a' and 'c' are actually at location 0 and 2 |
| auto& a_expr = graph.ExpressionForId(0); |
| EXPECT_EQ(a_expr.type(), ExpressionType::COMPILE_TIME_CONSTANT); |
| EXPECT_EQ(a_expr.value(), 2); |
| |
| // At this point 'c' should have 0 and 1 as arguments. |
| auto& c_expr = graph.ExpressionForId(2); |
| EXPECT_EQ(c_expr.type(), ExpressionType::BINARY_ARITHMETIC); |
| EXPECT_EQ(c_expr.arguments()[0], 0); |
| EXPECT_EQ(c_expr.arguments()[1], 1); |
| |
| // We insert at the beginning, which shifts everything by one spot. |
| graph.InsertExpression( |
| 0, ExpressionType::COMPILE_TIME_CONSTANT, 0, {}, "", 10.2); |
| |
| // Test if 'a' and 'c' are actually at location 1 and 3 |
| auto& a_expr2 = graph.ExpressionForId(1); |
| EXPECT_EQ(a_expr2.type(), ExpressionType::COMPILE_TIME_CONSTANT); |
| EXPECT_EQ(a_expr2.value(), 2); |
| |
| // At this point 'c' should have 1 and 2 as arguments. |
| auto& c_expr2 = graph.ExpressionForId(3); |
| EXPECT_EQ(c_expr2.type(), ExpressionType::BINARY_ARITHMETIC); |
| EXPECT_EQ(c_expr2.arguments()[0], 1); |
| EXPECT_EQ(c_expr2.arguments()[1], 2); |
| } |
| |
| TEST(ExpressionGraph, InsertExpression) { |
| using T = ExpressionRef; |
| |
| StartRecordingExpressions(); |
| |
| { |
| T a(2); // 0 |
| T b(3); // 1 |
| T five = 5; // 2 |
| T tmp = a + five; // 3 |
| a = tmp; // 4 |
| T c = a + b; // 5 |
| T d = a * b; // 6 |
| T e = c + d; // 7 |
| MakeOutput(e, "result"); // 8 |
| } |
| auto reference = StopRecordingExpressions(); |
| EXPECT_EQ(reference.Size(), 9); |
| |
| StartRecordingExpressions(); |
| |
| { |
| // The expressions 2,3,4 from above are missing. |
| T a(2); // 0 |
| T b(3); // 1 |
| T c = a + b; // 2 |
| T d = a * b; // 3 |
| T e = c + d; // 4 |
| MakeOutput(e, "result"); // 5 |
| } |
| |
| auto graph1 = StopRecordingExpressions(); |
| EXPECT_EQ(graph1.Size(), 6); |
| ASSERT_FALSE(reference == graph1); |
| |
| // We manually insert the 3 missing expressions |
| // clang-format off |
| graph1.InsertExpression(2, ExpressionType::COMPILE_TIME_CONSTANT, 2, {}, "", 5); |
| graph1.InsertExpression(3, ExpressionType::BINARY_ARITHMETIC, 3, {0, 2}, "+", 0); |
| graph1.InsertExpression(4, ExpressionType::ASSIGNMENT, 0, {3}, "", 0); |
| // clang-format on |
| |
| // Now the graphs are identical! |
| EXPECT_EQ(graph1.Size(), 9); |
| ASSERT_TRUE(reference == graph1); |
| } |
| |
| } // namespace internal |
| } // namespace ceres |