90 lines
4.1 KiB
C++
90 lines
4.1 KiB
C++
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: keir@google.com (Keir Mierle)
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// sameeragarwal@google.com (Sameer Agarwal)
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#include "ceres/evaluator_test_utils.h"
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#include "ceres/internal/eigen.h"
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#include "gtest/gtest.h"
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namespace ceres {
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namespace internal {
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void CompareEvaluations(int expected_num_rows,
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int expected_num_cols,
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double expected_cost,
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const double* expected_residuals,
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const double* expected_gradient,
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const double* expected_jacobian,
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const double actual_cost,
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const double* actual_residuals,
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const double* actual_gradient,
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const double* actual_jacobian) {
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EXPECT_EQ(expected_cost, actual_cost);
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if (expected_residuals != NULL) {
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ConstVectorRef expected_residuals_vector(expected_residuals,
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expected_num_rows);
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ConstVectorRef actual_residuals_vector(actual_residuals,
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expected_num_rows);
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EXPECT_TRUE((actual_residuals_vector.array() ==
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expected_residuals_vector.array()).all())
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<< "Actual:\n" << actual_residuals_vector
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<< "\nExpected:\n" << expected_residuals_vector;
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}
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if (expected_gradient != NULL) {
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ConstVectorRef expected_gradient_vector(expected_gradient,
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expected_num_cols);
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ConstVectorRef actual_gradient_vector(actual_gradient,
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expected_num_cols);
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EXPECT_TRUE((actual_gradient_vector.array() ==
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expected_gradient_vector.array()).all())
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<< "Actual:\n" << actual_gradient_vector.transpose()
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<< "\nExpected:\n" << expected_gradient_vector.transpose();
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}
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if (expected_jacobian != NULL) {
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ConstMatrixRef expected_jacobian_matrix(expected_jacobian,
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expected_num_rows,
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expected_num_cols);
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ConstMatrixRef actual_jacobian_matrix(actual_jacobian,
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expected_num_rows,
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expected_num_cols);
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EXPECT_TRUE((actual_jacobian_matrix.array() ==
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expected_jacobian_matrix.array()).all())
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<< "Actual:\n" << actual_jacobian_matrix
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<< "\nExpected:\n" << expected_jacobian_matrix;
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}
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}
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} // namespace internal
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} // namespace ceres
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