internal/ceres/codegen/autodiff_codegen_test.cc

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2019 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
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//
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//   this list of conditions and the following disclaimer.
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// Author: darius.rueckert@fau.de (Darius Rueckert)
//
// This file tests the Expression class. For each member function one test is
// included here.
//
#include "autodiff_codegen_test.h"

#include "ceres/autodiff_cost_function.h"
#include "codegen/test_utils.h"
#include "gtest/gtest.h"

namespace ceres {
namespace internal {

class AutoDiffCodegenTest : public testing::TestWithParam<double> {
 public:
  template <typename CostFunctionType, int kNumResiduals, int... Ns>
  void TestCostFunction() {
    using CostFunctorType = CostFunctionToFunctor<CostFunctionType>;
    CostFunctionType generated_cost_function;
    CostFunctorType cost_functor;
    auto* cost_function_ad =
        new AutoDiffCostFunction<CostFunctorType, kNumResiduals, Ns...>(
            &cost_functor);
    auto value = GetParam();
    CompareCostFunctions(&generated_cost_function,
                         cost_function_ad,
                         value,
                         kRelativeErrorThreshold);
  }
  static constexpr double kRelativeErrorThreshold = 0;
};

TEST_P(AutoDiffCodegenTest, InputOutputAssignment) {
  TestCostFunction<test::InputOutputAssignment, 7, 4, 2, 1>();
}

TEST_P(AutoDiffCodegenTest, CompileTimeConstants) {
  TestCostFunction<test::CompileTimeConstants, 7, 1>();
}

TEST_P(AutoDiffCodegenTest, Assignments) {
  TestCostFunction<test::Assignments, 8, 2>();
}

TEST_P(AutoDiffCodegenTest, BinaryArithmetic) {
  TestCostFunction<test::BinaryArithmetic, 9, 2>();
}

TEST_P(AutoDiffCodegenTest, UnaryArithmetic) {
  TestCostFunction<test::UnaryArithmetic, 3, 1>();
}

TEST_P(AutoDiffCodegenTest, BinaryComparison) {
  TestCostFunction<test::BinaryComparison, 12, 2>();
}

TEST_P(AutoDiffCodegenTest, LogicalOperators) {
  TestCostFunction<test::LogicalOperators, 8, 3>();
}

TEST_P(AutoDiffCodegenTest, ScalarFunctions) {
  TestCostFunction<test::ScalarFunctions, 20, 22>();
}

TEST_P(AutoDiffCodegenTest, LogicalFunctions) {
  TestCostFunction<test::LogicalFunctions, 4, 4>();
}

TEST_P(AutoDiffCodegenTest, Branches) {
  TestCostFunction<test::Branches, 4, 3>();
}

INSTANTIATE_TEST_SUITE_P(
    AutoDiffCodegenTest,
    AutoDiffCodegenTest,
    testing::Values(0,
                    -1,
                    1,
                    0.5,
                    -0.5,
                    10,
                    -10,
                    1e20,
                    1e-20,
                    std::numeric_limits<double>::infinity(),
                    std::numeric_limits<double>::quiet_NaN()));
}  // namespace internal
}  // namespace ceres