| // 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: keir@google.com (Keir Mierle) |
| // sameeragarwal@google.com (Sameer Agarwal) |
| |
| #include "ceres/evaluator_test_utils.h" |
| #include "ceres/internal/eigen.h" |
| #include "gtest/gtest.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| void CompareEvaluations(int expected_num_rows, |
| int expected_num_cols, |
| double expected_cost, |
| const double* expected_residuals, |
| const double* expected_gradient, |
| const double* expected_jacobian, |
| const double actual_cost, |
| const double* actual_residuals, |
| const double* actual_gradient, |
| const double* actual_jacobian) { |
| EXPECT_EQ(expected_cost, actual_cost); |
| |
| if (expected_residuals != NULL) { |
| ConstVectorRef expected_residuals_vector(expected_residuals, |
| expected_num_rows); |
| ConstVectorRef actual_residuals_vector(actual_residuals, |
| expected_num_rows); |
| EXPECT_TRUE((actual_residuals_vector.array() == |
| expected_residuals_vector.array()).all()) |
| << "Actual:\n" << actual_residuals_vector |
| << "\nExpected:\n" << expected_residuals_vector; |
| } |
| |
| if (expected_gradient != NULL) { |
| ConstVectorRef expected_gradient_vector(expected_gradient, |
| expected_num_cols); |
| ConstVectorRef actual_gradient_vector(actual_gradient, |
| expected_num_cols); |
| |
| EXPECT_TRUE((actual_gradient_vector.array() == |
| expected_gradient_vector.array()).all()) |
| << "Actual:\n" << actual_gradient_vector.transpose() |
| << "\nExpected:\n" << expected_gradient_vector.transpose(); |
| } |
| |
| if (expected_jacobian != NULL) { |
| ConstMatrixRef expected_jacobian_matrix(expected_jacobian, |
| expected_num_rows, |
| expected_num_cols); |
| ConstMatrixRef actual_jacobian_matrix(actual_jacobian, |
| expected_num_rows, |
| expected_num_cols); |
| EXPECT_TRUE((actual_jacobian_matrix.array() == |
| expected_jacobian_matrix.array()).all()) |
| << "Actual:\n" << actual_jacobian_matrix |
| << "\nExpected:\n" << expected_jacobian_matrix; |
| } |
| } |
| |
| } // namespace internal |
| } // namespace ceres |
