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 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of Google Inc. nor the names of its contributors may be
14 // used to endorse or promote products derived from this software without
15 // specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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28 //
29 // Author: keir@google.com (Keir Mierle)
30 // sameeragarwal@google.com (Sameer Agarwal)
31
32 #include "ceres/evaluator_test_utils.h"
33 #include "ceres/internal/eigen.h"
34 #include "gtest/gtest.h"
35
36 namespace ceres {
37 namespace internal {
38
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)39 void CompareEvaluations(int expected_num_rows,
40 int expected_num_cols,
41 double expected_cost,
42 const double* expected_residuals,
43 const double* expected_gradient,
44 const double* expected_jacobian,
45 const double actual_cost,
46 const double* actual_residuals,
47 const double* actual_gradient,
48 const double* actual_jacobian) {
49 EXPECT_EQ(expected_cost, actual_cost);
50
51 if (expected_residuals != NULL) {
52 ConstVectorRef expected_residuals_vector(expected_residuals,
53 expected_num_rows);
54 ConstVectorRef actual_residuals_vector(actual_residuals,
55 expected_num_rows);
56 EXPECT_TRUE((actual_residuals_vector.array() ==
57 expected_residuals_vector.array()).all())
58 << "Actual:\n" << actual_residuals_vector
59 << "\nExpected:\n" << expected_residuals_vector;
60 }
61
62 if (expected_gradient != NULL) {
63 ConstVectorRef expected_gradient_vector(expected_gradient,
64 expected_num_cols);
65 ConstVectorRef actual_gradient_vector(actual_gradient,
66 expected_num_cols);
67
68 EXPECT_TRUE((actual_gradient_vector.array() ==
69 expected_gradient_vector.array()).all())
70 << "Actual:\n" << actual_gradient_vector.transpose()
71 << "\nExpected:\n" << expected_gradient_vector.transpose();
72 }
73
74 if (expected_jacobian != NULL) {
75 ConstMatrixRef expected_jacobian_matrix(expected_jacobian,
76 expected_num_rows,
77 expected_num_cols);
78 ConstMatrixRef actual_jacobian_matrix(actual_jacobian,
79 expected_num_rows,
80 expected_num_cols);
81 EXPECT_TRUE((actual_jacobian_matrix.array() ==
82 expected_jacobian_matrix.array()).all())
83 << "Actual:\n" << actual_jacobian_matrix
84 << "\nExpected:\n" << expected_jacobian_matrix;
85 }
86 }
87
88 } // namespace internal
89 } // namespace ceres
90