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

// Ceres Solver - A fast non-linear least squares minimizer
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// Author: dgossow@google.com (David Gossow)
//
// This file contains tests for the IsClose function.

#include "ceres/is_close.h"

#include "gtest/gtest.h"

namespace ceres::internal {

const double kTolerance = 1e-9;

TEST(IsClose, BothParametersPositive) {
  double relative_error = -1;
  double absolute_error = -1;

  // Test cases where both values are positive.
  EXPECT_TRUE(IsClose(9.9, 10.0, 0.011, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 0.01, kTolerance);
  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
  relative_error = -1;
  absolute_error = -1;
  EXPECT_TRUE(IsClose(10.0, 9.9, 0.011, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 0.01, kTolerance);
  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
  relative_error = -1;
  absolute_error = -1;

  EXPECT_FALSE(IsClose(9.9, 10.0, 0.009, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 0.01, kTolerance);
  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
  relative_error = -1;
  absolute_error = -1;
  EXPECT_FALSE(IsClose(10.0, 9.9, 0.009, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 0.01, kTolerance);
  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
}

TEST(IsClose, BothParametersNegative) {
  double relative_error = -1;
  double absolute_error = -1;

  // Test cases where both values are negative.
  EXPECT_TRUE(IsClose(-9.9, -10.0, 0.011, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 0.01, kTolerance);
  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
  relative_error = -1;
  absolute_error = -1;
  EXPECT_TRUE(IsClose(-10.0, -9.9, 0.011, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 0.01, kTolerance);
  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
  relative_error = -1;
  absolute_error = -1;

  EXPECT_FALSE(IsClose(-9.9, -10.0, 0.009, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 0.01, kTolerance);
  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
  relative_error = -1;
  absolute_error = -1;
  EXPECT_FALSE(IsClose(-10.0, -9.9, 0.009, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 0.01, kTolerance);
  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
}

TEST(IsClose, ParametersHaveMixedSigns) {
  double relative_error = -1;
  double absolute_error = -1;

  // Test cases with mixed signs.
  EXPECT_FALSE(IsClose(-0.1, 0.1, 1.99, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 2.0, kTolerance);
  EXPECT_NEAR(absolute_error, 0.2, kTolerance);
  relative_error = -1;
  absolute_error = -1;
  EXPECT_TRUE(IsClose(-0.1, 0.1, 2.01, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 2.0, kTolerance);
  EXPECT_NEAR(absolute_error, 0.2, kTolerance);
  relative_error = -1;
  absolute_error = -1;
  EXPECT_FALSE(IsClose(0.1, -0.1, 1.99, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 2.0, kTolerance);
  EXPECT_NEAR(absolute_error, 0.2, kTolerance);
  relative_error = -1;
  absolute_error = -1;
  EXPECT_TRUE(IsClose(0.1, -0.1, 2.01, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 2.0, kTolerance);
  EXPECT_NEAR(absolute_error, 0.2, kTolerance);
}

TEST(IsClose, OneParameterZero) {
  double relative_error = -1;
  double absolute_error = -1;

  // Test cases where one of the values is zero.
  EXPECT_TRUE(IsClose(0.0, 10.0, 10.1, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 10.0, kTolerance);
  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
  relative_error = -1;
  absolute_error = -1;
  EXPECT_TRUE(IsClose(10.0, 0.0, 10.1, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 10.0, kTolerance);
  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
  relative_error = -1;
  absolute_error = -1;
  EXPECT_TRUE(IsClose(0.0, -10.0, 10.1, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 10.0, kTolerance);
  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
  relative_error = -1;
  absolute_error = -1;
  EXPECT_TRUE(IsClose(-10.0, 0.0, 10.1, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 10.0, kTolerance);
  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
  relative_error = -1;
  absolute_error = -1;

  EXPECT_FALSE(IsClose(0, 10.0, 9.9, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 10.0, kTolerance);
  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
  relative_error = -1;
  absolute_error = -1;
  EXPECT_FALSE(IsClose(10.0, 0.0, 9.9, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 10.0, kTolerance);
  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
  relative_error = -1;
  absolute_error = -1;
  EXPECT_FALSE(IsClose(0, -10.0, 9.9, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 10.0, kTolerance);
  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
  relative_error = -1;
  absolute_error = -1;
  EXPECT_FALSE(IsClose(-10.0, 0.0, 9.9, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 10.0, kTolerance);
  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
}

TEST(IsClose, BothParametersZero) {
  double relative_error = -1;
  double absolute_error = -1;
  EXPECT_TRUE(IsClose(0.0, 0.0, 0.1, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 0.0, kTolerance);
  EXPECT_NEAR(absolute_error, 0.0, kTolerance);
  relative_error = -1;
  absolute_error = -1;
  EXPECT_FALSE(IsClose(0.0, 0.0, 0.0, &relative_error, &absolute_error));
  EXPECT_NEAR(relative_error, 0.0, kTolerance);
  EXPECT_NEAR(absolute_error, 0.0, kTolerance);
}
}  // namespace ceres::internal