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      1 // Ceres Solver - A fast non-linear least squares minimizer
      2 // Copyright 2013 Google Inc. All rights reserved.
      3 // http://code.google.com/p/ceres-solver/
      4 //
      5 // Redistribution and use in source and binary forms, with or without
      6 // modification, are permitted provided that the following conditions are met:
      7 //
      8 // * Redistributions of source code must retain the above copyright notice,
      9 //   this list of conditions and the following disclaimer.
     10 // * Redistributions in binary form must reproduce the above copyright notice,
     11 //   this list of conditions and the following disclaimer in the documentation
     12 //   and/or other materials provided with the distribution.
     13 // * Neither the name of Google Inc. nor the names of its contributors may be
     14 //   used to endorse or promote products derived from this software without
     15 //   specific prior written permission.
     16 //
     17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
     18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
     19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
     20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
     21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
     22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
     23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
     24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
     25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
     26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
     27 // POSSIBILITY OF SUCH DAMAGE.
     28 //
     29 // Author: sameeragarwal (at) google.com (Sameer Agarwal)
     30 
     31 #include "ceres/numeric_diff_functor.h"
     32 
     33 #include <algorithm>
     34 #include <cmath>
     35 #include <string>
     36 #include <vector>
     37 #include "ceres/autodiff_cost_function.h"
     38 #include "ceres/internal/scoped_ptr.h"
     39 #include "ceres/numeric_diff_test_utils.h"
     40 #include "ceres/test_util.h"
     41 #include "ceres/types.h"
     42 #include "glog/logging.h"
     43 #include "gtest/gtest.h"
     44 
     45 namespace ceres {
     46 namespace internal {
     47 
     48 TEST(NumericDiffCostFunction, EasyCaseCentralDifferences) {
     49   typedef NumericDiffFunctor<EasyFunctor, CENTRAL, 3, 5, 5>
     50       NumericDiffEasyFunctor;
     51 
     52   internal::scoped_ptr<CostFunction> cost_function;
     53   EasyFunctor functor;
     54 
     55   cost_function.reset(
     56       new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
     57           new NumericDiffEasyFunctor));
     58 
     59   functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
     60 
     61   cost_function.reset(
     62       new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
     63           new NumericDiffEasyFunctor(new EasyFunctor)));
     64   functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
     65 }
     66 
     67 TEST(NumericDiffCostFunction, EasyCaseForwardDifferences) {
     68   typedef NumericDiffFunctor<EasyFunctor, FORWARD, 3, 5, 5>
     69       NumericDiffEasyFunctor;
     70 
     71   internal::scoped_ptr<CostFunction> cost_function;
     72   EasyFunctor functor;
     73 
     74   cost_function.reset(
     75       new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
     76           new NumericDiffEasyFunctor));
     77 
     78   functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
     79 
     80   cost_function.reset(
     81       new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
     82           new NumericDiffEasyFunctor(new EasyFunctor)));
     83   functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
     84 }
     85 
     86 TEST(NumericDiffCostFunction, TranscendentalCaseCentralDifferences) {
     87   typedef NumericDiffFunctor<TranscendentalFunctor, CENTRAL, 2, 5, 5>
     88       NumericDiffTranscendentalFunctor;
     89 
     90   internal::scoped_ptr<CostFunction> cost_function;
     91   TranscendentalFunctor functor;
     92 
     93   cost_function.reset(
     94       new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
     95           new NumericDiffTranscendentalFunctor));
     96 
     97   functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
     98 
     99   cost_function.reset(
    100       new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
    101           new NumericDiffTranscendentalFunctor(new TranscendentalFunctor)));
    102   functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
    103 }
    104 
    105 TEST(NumericDiffCostFunction, TranscendentalCaseForwardDifferences) {
    106   typedef NumericDiffFunctor<TranscendentalFunctor, FORWARD, 2, 5, 5>
    107       NumericDiffTranscendentalFunctor;
    108 
    109   internal::scoped_ptr<CostFunction> cost_function;
    110   TranscendentalFunctor functor;
    111 
    112   cost_function.reset(
    113       new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
    114           new NumericDiffTranscendentalFunctor));
    115 
    116   functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
    117 
    118   cost_function.reset(
    119       new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
    120           new NumericDiffTranscendentalFunctor(new TranscendentalFunctor)));
    121   functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
    122 }
    123 
    124 }  // namespace internal
    125 }  // namespace ceres
    126