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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2023 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
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//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// Author: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/graph.h"
#include <unordered_set>
#include "gtest/gtest.h"
namespace ceres::internal {
TEST(Graph, EmptyGraph) {
Graph<int> graph;
EXPECT_EQ(graph.vertices().size(), 0);
}
TEST(Graph, AddVertexAndEdge) {
Graph<int> graph;
graph.AddVertex(0);
graph.AddVertex(1);
graph.AddEdge(0, 1);
const std::unordered_set<int>& vertices = graph.vertices();
EXPECT_EQ(vertices.size(), 2);
EXPECT_EQ(graph.Neighbors(0).size(), 1);
EXPECT_EQ(graph.Neighbors(1).size(), 1);
}
TEST(Graph, AddVertexIdempotence) {
Graph<int> graph;
graph.AddVertex(0);
graph.AddVertex(1);
graph.AddEdge(0, 1);
const std::unordered_set<int>& vertices = graph.vertices();
EXPECT_EQ(vertices.size(), 2);
// Try adding the vertex again with a new weight.
graph.AddVertex(0);
EXPECT_EQ(vertices.size(), 2);
// Rest of the graph remains the same.
EXPECT_EQ(graph.Neighbors(0).size(), 1);
EXPECT_EQ(graph.Neighbors(1).size(), 1);
}
TEST(Graph, DieOnNonExistentVertex) {
Graph<int> graph;
graph.AddVertex(0);
graph.AddVertex(1);
graph.AddEdge(0, 1);
EXPECT_DEATH_IF_SUPPORTED(graph.Neighbors(2), "key not found");
}
TEST(WeightedGraph, EmptyGraph) {
WeightedGraph<int> graph;
EXPECT_EQ(graph.vertices().size(), 0);
}
TEST(WeightedGraph, AddVertexAndEdge) {
WeightedGraph<int> graph;
graph.AddVertex(0, 1.0);
graph.AddVertex(1, 2.0);
graph.AddEdge(0, 1, 0.5);
const std::unordered_set<int>& vertices = graph.vertices();
EXPECT_EQ(vertices.size(), 2);
EXPECT_EQ(graph.VertexWeight(0), 1.0);
EXPECT_EQ(graph.VertexWeight(1), 2.0);
EXPECT_EQ(graph.Neighbors(0).size(), 1);
EXPECT_EQ(graph.Neighbors(1).size(), 1);
EXPECT_EQ(graph.EdgeWeight(0, 1), 0.5);
EXPECT_EQ(graph.EdgeWeight(1, 0), 0.5);
}
TEST(WeightedGraph, AddVertexIdempotence) {
WeightedGraph<int> graph;
graph.AddVertex(0, 1.0);
graph.AddVertex(1, 2.0);
graph.AddEdge(0, 1, 0.5);
const std::unordered_set<int>& vertices = graph.vertices();
EXPECT_EQ(vertices.size(), 2);
// Try adding the vertex again with a new weight.
graph.AddVertex(0, 3.0);
EXPECT_EQ(vertices.size(), 2);
// The vertex weight is reset.
EXPECT_EQ(graph.VertexWeight(0), 3.0);
// Rest of the graph remains the same.
EXPECT_EQ(graph.VertexWeight(1), 2.0);
EXPECT_EQ(graph.Neighbors(0).size(), 1);
EXPECT_EQ(graph.Neighbors(1).size(), 1);
EXPECT_EQ(graph.EdgeWeight(0, 1), 0.5);
EXPECT_EQ(graph.EdgeWeight(1, 0), 0.5);
}
TEST(WeightedGraph, DieOnNonExistentVertex) {
WeightedGraph<int> graph;
graph.AddVertex(0, 1.0);
graph.AddVertex(1, 2.0);
graph.AddEdge(0, 1, 0.5);
EXPECT_DEATH_IF_SUPPORTED(graph.VertexWeight(2), "key not found");
EXPECT_DEATH_IF_SUPPORTED(graph.Neighbors(2), "key not found");
}
TEST(WeightedGraph, NonExistentEdge) {
WeightedGraph<int> graph;
graph.AddVertex(0, 1.0);
graph.AddVertex(1, 2.0);
graph.AddEdge(0, 1, 0.5);
// Default value for non-existent edges is 0.
EXPECT_EQ(graph.EdgeWeight(2, 3), 0);
}
} // namespace ceres::internal