Vehicle-cpp/zjw/ceres-solver-master/internal/ceres/array_utils_test.cc

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2023 Google Inc. All rights reserved.
// http://ceres-solver.org/
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#include "ceres/array_utils.h"

#include <cmath>
#include <limits>
#include <vector>

#include "gtest/gtest.h"

namespace ceres::internal {

TEST(ArrayUtils, IsArrayValid) {
  double x[3];
  x[0] = 0.0;
  x[1] = 1.0;
  x[2] = 2.0;
  EXPECT_TRUE(IsArrayValid(3, x));
  x[1] = std::numeric_limits<double>::infinity();
  EXPECT_FALSE(IsArrayValid(3, x));
  x[1] = std::numeric_limits<double>::quiet_NaN();
  EXPECT_FALSE(IsArrayValid(3, x));
  x[1] = std::numeric_limits<double>::signaling_NaN();
  EXPECT_FALSE(IsArrayValid(3, x));
  EXPECT_TRUE(IsArrayValid(1, nullptr));
  InvalidateArray(3, x);
  EXPECT_FALSE(IsArrayValid(3, x));
}

TEST(ArrayUtils, FindInvalidIndex) {
  double x[3];
  x[0] = 0.0;
  x[1] = 1.0;
  x[2] = 2.0;
  EXPECT_EQ(FindInvalidValue(3, x), 3);
  x[1] = std::numeric_limits<double>::infinity();
  EXPECT_EQ(FindInvalidValue(3, x), 1);
  x[1] = std::numeric_limits<double>::quiet_NaN();
  EXPECT_EQ(FindInvalidValue(3, x), 1);
  x[1] = std::numeric_limits<double>::signaling_NaN();
  EXPECT_EQ(FindInvalidValue(3, x), 1);
  EXPECT_EQ(FindInvalidValue(1, nullptr), 1);
  InvalidateArray(3, x);
  EXPECT_EQ(FindInvalidValue(3, x), 0);
}

TEST(MapValuesToContiguousRange, ContiguousEntries) {
  std::vector<int> array;
  array.push_back(0);
  array.push_back(1);
  std::vector<int> expected = array;
  MapValuesToContiguousRange(array.size(), &array[0]);
  EXPECT_EQ(array, expected);
  array.clear();

  array.push_back(1);
  array.push_back(0);
  expected = array;
  MapValuesToContiguousRange(array.size(), &array[0]);
  EXPECT_EQ(array, expected);
}

TEST(MapValuesToContiguousRange, NonContiguousEntries) {
  std::vector<int> array;
  array.push_back(0);
  array.push_back(2);
  std::vector<int> expected;
  expected.push_back(0);
  expected.push_back(1);
  MapValuesToContiguousRange(array.size(), &array[0]);
  EXPECT_EQ(array, expected);
}

TEST(MapValuesToContiguousRange, NonContiguousRepeatingEntries) {
  std::vector<int> array;
  array.push_back(3);
  array.push_back(1);
  array.push_back(0);
  array.push_back(0);
  array.push_back(0);
  array.push_back(5);
  std::vector<int> expected;
  expected.push_back(2);
  expected.push_back(1);
  expected.push_back(0);
  expected.push_back(0);
  expected.push_back(0);
  expected.push_back(3);
  MapValuesToContiguousRange(array.size(), &array[0]);
  EXPECT_EQ(array, expected);
}

}  // namespace ceres::internal