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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2017 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: mierle@gmail.com (Keir Mierle)
#include "ceres/tiny_solver.h"
#include <algorithm>
#include <cmath>
#include "gtest/gtest.h"
namespace ceres {
typedef Eigen::Matrix<double, 2, 1> Vec2;
typedef Eigen::Matrix<double, 3, 1> Vec3;
typedef Eigen::VectorXd VecX;
bool EvaluateResidualsAndJacobians(const double* parameters,
double* residuals,
double* jacobian) {
double x = parameters[0];
double y = parameters[1];
double z = parameters[2];
residuals[0] = x + 2*y + 4*z;
residuals[1] = y * z;
if (jacobian) {
jacobian[0 * 2 + 0] = 1;
jacobian[0 * 2 + 1] = 0;
jacobian[1 * 2 + 0] = 2;
jacobian[1 * 2 + 1] = z;
jacobian[2 * 2 + 0] = 4;
jacobian[2 * 2 + 1] = y;
}
return true;
}
class ExampleStatic {
public:
typedef double Scalar;
enum {
// Can also be Eigen::Dynamic.
NUM_RESIDUALS = 2,
NUM_PARAMETERS = 3,
};
bool operator()(const double* parameters,
double* residuals,
double* jacobian) const {
return EvaluateResidualsAndJacobians(parameters, residuals, jacobian);
}
};
class ExampleParametersDynamic {
public:
typedef double Scalar;
enum {
NUM_RESIDUALS = 2,
NUM_PARAMETERS = Eigen::Dynamic,
};
int NumParameters() const {
return 3;
}
bool operator()(const double* parameters,
double* residuals,
double* jacobian) const {
return EvaluateResidualsAndJacobians(parameters, residuals, jacobian);
}
};
class ExampleResidualsDynamic {
public:
typedef double Scalar;
enum {
NUM_RESIDUALS = Eigen::Dynamic,
NUM_PARAMETERS = 3,
};
int NumResiduals() const {
return 2;
}
bool operator()(const double* parameters,
double* residuals,
double* jacobian) const {
return EvaluateResidualsAndJacobians(parameters, residuals, jacobian);
}
};
class ExampleAllDynamic {
public:
typedef double Scalar;
enum {
NUM_RESIDUALS = Eigen::Dynamic,
NUM_PARAMETERS = Eigen::Dynamic,
};
int NumResiduals() const {
return 2;
}
int NumParameters() const {
return 3;
}
bool operator()(const double* parameters,
double* residuals,
double* jacobian) const {
return EvaluateResidualsAndJacobians(parameters, residuals, jacobian);
}
};
template <typename Function, typename Vector>
void TestHelper(const Function& f, const Vector& x0) {
Vector x = x0;
Vec2 residuals;
f(x.data(), residuals.data(), NULL);
EXPECT_GT(residuals.squaredNorm() / 2.0, 1e-10);
TinySolver<Function> solver;
solver.Solve(f, &x);
EXPECT_NEAR(0.0, solver.summary.final_cost, 1e-10);
}
// A test case for when the cost function is statically sized.
TEST(TinySolver, SimpleExample) {
Vec3 x0(0.76026643, -30.01799744, 0.55192142);
ExampleStatic f;
TestHelper(f, x0);
}
// A test case for when the number of parameters is dynamically sized.
TEST(TinySolver, ParametersDynamic) {
VecX x0(3);
x0 << 0.76026643, -30.01799744, 0.55192142;
ExampleParametersDynamic f;
TestHelper(f, x0);
}
// A test case for when the number of residuals is dynamically sized.
TEST(TinySolver, ResidualsDynamic) {
Vec3 x0(0.76026643, -30.01799744, 0.55192142);
ExampleResidualsDynamic f;
TestHelper(f, x0);
}
// A test case for when the number of parameters and residuals is
// dynamically sized.
TEST(TinySolver, ParametersAndResidualsDynamic) {
VecX x0(3);
x0 << 0.76026643, -30.01799744, 0.55192142;
ExampleAllDynamic f;
TestHelper(f, x0);
}
} // namespace ceres