1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2013 Google Inc. All rights reserved.
3 // http://code.google.com/p/ceres-solver/
4 //
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6 // modification, are permitted provided that the following conditions are met:
7 //
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9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
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14 // used to endorse or promote products derived from this software without
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16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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28 //
29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30
31 #include "ceres/numeric_diff_functor.h"
32
33 #include <algorithm>
34 #include <cmath>
35 #include <string>
36 #include <vector>
37 #include "ceres/autodiff_cost_function.h"
38 #include "ceres/internal/scoped_ptr.h"
39 #include "ceres/numeric_diff_test_utils.h"
40 #include "ceres/test_util.h"
41 #include "ceres/types.h"
42 #include "glog/logging.h"
43 #include "gtest/gtest.h"
44
45 namespace ceres {
46 namespace internal {
47
TEST(NumericDiffCostFunction,EasyCaseCentralDifferences)48 TEST(NumericDiffCostFunction, EasyCaseCentralDifferences) {
49 typedef NumericDiffFunctor<EasyFunctor, CENTRAL, 3, 5, 5>
50 NumericDiffEasyFunctor;
51
52 internal::scoped_ptr<CostFunction> cost_function;
53 EasyFunctor functor;
54
55 cost_function.reset(
56 new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
57 new NumericDiffEasyFunctor));
58
59 functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
60
61 cost_function.reset(
62 new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
63 new NumericDiffEasyFunctor(new EasyFunctor)));
64 functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
65 }
66
TEST(NumericDiffCostFunction,EasyCaseForwardDifferences)67 TEST(NumericDiffCostFunction, EasyCaseForwardDifferences) {
68 typedef NumericDiffFunctor<EasyFunctor, FORWARD, 3, 5, 5>
69 NumericDiffEasyFunctor;
70
71 internal::scoped_ptr<CostFunction> cost_function;
72 EasyFunctor functor;
73
74 cost_function.reset(
75 new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
76 new NumericDiffEasyFunctor));
77
78 functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
79
80 cost_function.reset(
81 new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
82 new NumericDiffEasyFunctor(new EasyFunctor)));
83 functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
84 }
85
TEST(NumericDiffCostFunction,TranscendentalCaseCentralDifferences)86 TEST(NumericDiffCostFunction, TranscendentalCaseCentralDifferences) {
87 typedef NumericDiffFunctor<TranscendentalFunctor, CENTRAL, 2, 5, 5>
88 NumericDiffTranscendentalFunctor;
89
90 internal::scoped_ptr<CostFunction> cost_function;
91 TranscendentalFunctor functor;
92
93 cost_function.reset(
94 new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
95 new NumericDiffTranscendentalFunctor));
96
97 functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
98
99 cost_function.reset(
100 new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
101 new NumericDiffTranscendentalFunctor(new TranscendentalFunctor)));
102 functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
103 }
104
TEST(NumericDiffCostFunction,TranscendentalCaseForwardDifferences)105 TEST(NumericDiffCostFunction, TranscendentalCaseForwardDifferences) {
106 typedef NumericDiffFunctor<TranscendentalFunctor, FORWARD, 2, 5, 5>
107 NumericDiffTranscendentalFunctor;
108
109 internal::scoped_ptr<CostFunction> cost_function;
110 TranscendentalFunctor functor;
111
112 cost_function.reset(
113 new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
114 new NumericDiffTranscendentalFunctor));
115
116 functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
117
118 cost_function.reset(
119 new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
120 new NumericDiffTranscendentalFunctor(new TranscendentalFunctor)));
121 functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
122 }
123
124 } // namespace internal
125 } // namespace ceres
126