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

// Ceres Solver - A fast non-linear least squares minimizer
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// http://ceres-solver.org/
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// Author: mierle@gmail.com (Keir Mierle)

#include "ceres/tiny_solver.h"

#include <algorithm>
#include <cmath>

#include "ceres/tiny_solver_test_util.h"
#include "gtest/gtest.h"

namespace ceres {

using Vec2 = Eigen::Matrix<double, 2, 1>;
using Vec3 = Eigen::Matrix<double, 3, 1>;
using VecX = Eigen::VectorXd;

class ExampleStatic {
 public:
  using Scalar = double;
  enum {
    // Can also be Eigen::Dynamic.
    NUM_RESIDUALS = 2,
    NUM_PARAMETERS = 3,
  };
  bool operator()(const double* parameters,
                  double* residuals,
                  double* jacobian) const {
    return EvaluateResidualsAndJacobians(parameters, residuals, jacobian);
  }
};

class ExampleParametersDynamic {
 public:
  using Scalar = double;
  enum {
    NUM_RESIDUALS = 2,
    NUM_PARAMETERS = Eigen::Dynamic,
  };

  int NumParameters() const { return 3; }

  bool operator()(const double* parameters,
                  double* residuals,
                  double* jacobian) const {
    return EvaluateResidualsAndJacobians(parameters, residuals, jacobian);
  }
};

class ExampleResidualsDynamic {
 public:
  using Scalar = double;
  enum {
    NUM_RESIDUALS = Eigen::Dynamic,
    NUM_PARAMETERS = 3,
  };

  int NumResiduals() const { return 2; }

  bool operator()(const double* parameters,
                  double* residuals,
                  double* jacobian) const {
    return EvaluateResidualsAndJacobians(parameters, residuals, jacobian);
  }
};

class ExampleAllDynamic {
 public:
  using Scalar = double;
  enum {
    NUM_RESIDUALS = Eigen::Dynamic,
    NUM_PARAMETERS = Eigen::Dynamic,
  };

  int NumResiduals() const { return 2; }

  int NumParameters() const { return 3; }

  bool operator()(const double* parameters,
                  double* residuals,
                  double* jacobian) const {
    return EvaluateResidualsAndJacobians(parameters, residuals, jacobian);
  }
};

template <typename Function, typename Vector>
void TestHelper(const Function& f, const Vector& x0) {
  Vector x = x0;
  Vec2 residuals;
  f(x.data(), residuals.data(), nullptr);
  EXPECT_GT(residuals.squaredNorm() / 2.0, 1e-10);

  TinySolver<Function> solver;
  solver.Solve(f, &x);
  EXPECT_NEAR(0.0, solver.summary.final_cost, 1e-10);
}

// A test case for when the cost function is statically sized.
TEST(TinySolver, SimpleExample) {
  Vec3 x0(0.76026643, -30.01799744, 0.55192142);
  ExampleStatic f;

  TestHelper(f, x0);
}

// A test case for when the number of parameters is dynamically sized.
TEST(TinySolver, ParametersDynamic) {
  VecX x0(3);
  x0 << 0.76026643, -30.01799744, 0.55192142;

  ExampleParametersDynamic f;

  TestHelper(f, x0);
}

// A test case for when the number of residuals is dynamically sized.
TEST(TinySolver, ResidualsDynamic) {
  Vec3 x0(0.76026643, -30.01799744, 0.55192142);

  ExampleResidualsDynamic f;

  TestHelper(f, x0);
}

// A test case for when the number of parameters and residuals is
// dynamically sized.
TEST(TinySolver, ParametersAndResidualsDynamic) {
  VecX x0(3);
  x0 << 0.76026643, -30.01799744, 0.55192142;

  ExampleAllDynamic f;

  TestHelper(f, x0);
}

}  // namespace ceres