Vehicle-cpp/zjw/ceres-solver-master/internal/ceres/evaluator_test_utils.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: keir@google.com (Keir Mierle)
//         sameeragarwal@google.com (Sameer Agarwal)

#include "ceres/evaluator_test_utils.h"

#include "ceres/internal/eigen.h"
#include "gtest/gtest.h"

namespace ceres::internal {

void 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) {
  EXPECT_EQ(expected_cost, actual_cost);

  if (expected_residuals != nullptr) {
    ConstVectorRef expected_residuals_vector(expected_residuals,
                                             expected_num_rows);
    ConstVectorRef actual_residuals_vector(actual_residuals, expected_num_rows);
    EXPECT_TRUE(
        (actual_residuals_vector.array() == expected_residuals_vector.array())
            .all())
        << "Actual:\n"
        << actual_residuals_vector << "\nExpected:\n"
        << expected_residuals_vector;
  }

  if (expected_gradient != nullptr) {
    ConstVectorRef expected_gradient_vector(expected_gradient,
                                            expected_num_cols);
    ConstVectorRef actual_gradient_vector(actual_gradient, expected_num_cols);

    EXPECT_TRUE(
        (actual_gradient_vector.array() == expected_gradient_vector.array())
            .all())
        << "Actual:\n"
        << actual_gradient_vector.transpose() << "\nExpected:\n"
        << expected_gradient_vector.transpose();
  }

  if (expected_jacobian != nullptr) {
    ConstMatrixRef expected_jacobian_matrix(
        expected_jacobian, expected_num_rows, expected_num_cols);
    ConstMatrixRef actual_jacobian_matrix(
        actual_jacobian, expected_num_rows, expected_num_cols);
    EXPECT_TRUE(
        (actual_jacobian_matrix.array() == expected_jacobian_matrix.array())
            .all())
        << "Actual:\n"
        << actual_jacobian_matrix << "\nExpected:\n"
        << expected_jacobian_matrix;
  }
}

}  // namespace ceres::internal