Add support for up to 10 parameters in autodiff.
Supporting only 6 parameters in autodiff was enough for most
cases, but 6 was not always sufficient. This extends the
current implementation to work with up to 10 parameters.
This also increases the number of parameters supported in
SizedCostFunction to 10.
Change-Id: Ic783602f93e6ddf4af24fa34eff37c0a4b775dc1
diff --git a/internal/ceres/autodiff_cost_function_test.cc b/internal/ceres/autodiff_cost_function_test.cc
index 33e576f..e98397a 100644
--- a/internal/ceres/autodiff_cost_function_test.cc
+++ b/internal/ceres/autodiff_cost_function_test.cc
@@ -51,7 +51,7 @@
double a_;
};
-TEST(AutoDiffResidualAndJacobian, BilinearDifferentiationTest) {
+TEST(AutodiffCostFunction, BilinearDifferentiationTest) {
CostFunction* cost_function =
new AutoDiffCostFunction<BinaryScalarCost, 1, 2, 2>(
new BinaryScalarCost(1.0));
@@ -73,20 +73,72 @@
double residuals = 0.0;
cost_function->Evaluate(parameters, &residuals, NULL);
- EXPECT_EQ(residuals, 10);
+ EXPECT_EQ(10.0, residuals);
cost_function->Evaluate(parameters, &residuals, jacobians);
- EXPECT_EQ(jacobians[0][0], 3);
- EXPECT_EQ(jacobians[0][1], 4);
- EXPECT_EQ(jacobians[1][0], 1);
- EXPECT_EQ(jacobians[1][1], 2);
+ EXPECT_EQ(3, jacobians[0][0]);
+ EXPECT_EQ(4, jacobians[0][1]);
+ EXPECT_EQ(1, jacobians[1][0]);
+ EXPECT_EQ(2, jacobians[1][1]);
- delete []jacobians[0];
- delete []jacobians[1];
- delete []parameters[0];
- delete []parameters[1];
- delete []jacobians;
- delete []parameters;
+ delete[] jacobians[0];
+ delete[] jacobians[1];
+ delete[] parameters[0];
+ delete[] parameters[1];
+ delete[] jacobians;
+ delete[] parameters;
+ delete cost_function;
+}
+
+struct TenParameterCost {
+ template <typename T>
+ bool operator()(const T* const x0,
+ const T* const x1,
+ const T* const x2,
+ const T* const x3,
+ const T* const x4,
+ const T* const x5,
+ const T* const x6,
+ const T* const x7,
+ const T* const x8,
+ const T* const x9,
+ T* cost) const {
+ cost[0] = *x0 + *x1 + *x2 + *x3 + *x4 + *x5 + *x6 + *x7 + *x8 + *x9;
+ return true;
+ }
+};
+
+TEST(AutodiffCostFunction, ManyParameterAutodiffInstantiates) {
+ CostFunction* cost_function =
+ new AutoDiffCostFunction<
+ TenParameterCost, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1>(
+ new TenParameterCost);
+
+ double** parameters = new double*[10];
+ double** jacobians = new double*[10];
+ for (int i = 0; i < 10; ++i) {
+ parameters[i] = new double[1];
+ parameters[i][0] = i;
+ jacobians[i] = new double[1];
+ }
+
+ double residuals = 0.0;
+
+ cost_function->Evaluate(parameters, &residuals, NULL);
+ EXPECT_EQ(45.0, residuals);
+
+ cost_function->Evaluate(parameters, &residuals, jacobians);
+ EXPECT_EQ(residuals, 45.0);
+ for (int i = 0; i < 10; ++i) {
+ EXPECT_EQ(1.0, jacobians[i][0]);
+ }
+
+ for (int i = 0; i < 10; ++i) {
+ delete[] jacobians[i];
+ delete[] parameters[i];
+ }
+ delete[] jacobians;
+ delete[] parameters;
delete cost_function;
}
