Add a small test to make sure GradientProblemSolver works correctly.
The test makes sure the Rosenbrock function is correctly minimized from the
canonical starting point using the default settings.
Change-Id: Iea820f976707bde37162981c5db87fac5167ba9e
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
index 3108634..f3df974 100644
--- a/internal/ceres/CMakeLists.txt
+++ b/internal/ceres/CMakeLists.txt
@@ -263,6 +263,7 @@
CERES_TEST(gradient_checker)
CERES_TEST(gradient_checking_cost_function)
CERES_TEST(gradient_problem)
+ CERES_TEST(gradient_problem_solver)
CERES_TEST(graph)
CERES_TEST(graph_algorithms)
CERES_TEST(householder_vector)
diff --git a/internal/ceres/gradient_problem_solver_test.cc b/internal/ceres/gradient_problem_solver_test.cc
new file mode 100644
index 0000000..d6332ae
--- /dev/null
+++ b/internal/ceres/gradient_problem_solver_test.cc
@@ -0,0 +1,76 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// 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: strandmark@google.com (Petter Strandmark)
+
+#include "ceres/gradient_problem.h"
+#include "ceres/gradient_problem_solver.h"
+
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// Rosenbrock function; see http://en.wikipedia.org/wiki/Rosenbrock_function .
+class Rosenbrock : public ceres::FirstOrderFunction {
+ public:
+ virtual ~Rosenbrock() {}
+
+ virtual bool Evaluate(const double* parameters,
+ double* cost,
+ double* gradient) const {
+ const double x = parameters[0];
+ const double y = parameters[1];
+
+ cost[0] = (1.0 - x) * (1.0 - x) + 100.0 * (y - x * x) * (y - x * x);
+ if (gradient != NULL) {
+ gradient[0] = -2.0 * (1.0 - x) - 200.0 * (y - x * x) * 2.0 * x;
+ gradient[1] = 200.0 * (y - x * x);
+ }
+ return true;
+ }
+
+ virtual int NumParameters() const { return 2; }
+};
+
+TEST(GradientProblemSolver, SolvesRosenbrockWithDefaultOptions) {
+ const double expected_tolerance = 1e-9;
+ double parameters[2] = {-1.2, 0.0};
+
+ ceres::GradientProblemSolver::Options options;
+ ceres::GradientProblemSolver::Summary summary;
+ ceres::GradientProblem problem(new Rosenbrock());
+ ceres::Solve(options, problem, parameters, &summary);
+
+ EXPECT_EQ(CONVERGENCE, summary.termination_type);
+ EXPECT_NEAR(1.0, parameters[0], expected_tolerance);
+ EXPECT_NEAR(1.0, parameters[1], expected_tolerance);
+}
+
+} // namespace internal
+} // namespace ceres
