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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 #ifndef CERES_INTERNAL_NUMERIC_DIFF_TEST_UTILS_H_
     32 #define CERES_INTERNAL_NUMERIC_DIFF_TEST_UTILS_H_
     33 
     34 #include "ceres/cost_function.h"
     35 #include "ceres/sized_cost_function.h"
     36 #include "ceres/types.h"
     37 
     38 namespace ceres {
     39 namespace internal {
     40 
     41 // y1 = x1'x2      -> dy1/dx1 = x2,               dy1/dx2 = x1
     42 // y2 = (x1'x2)^2  -> dy2/dx1 = 2 * x2 * (x1'x2), dy2/dx2 = 2 * x1 * (x1'x2)
     43 // y3 = x2'x2      -> dy3/dx1 = 0,                dy3/dx2 = 2 * x2
     44 class EasyFunctor {
     45  public:
     46   bool operator()(const double* x1, const double* x2, double* residuals) const;
     47   void ExpectCostFunctionEvaluationIsNearlyCorrect(
     48       const CostFunction& cost_function,
     49       NumericDiffMethod method) const;
     50 };
     51 
     52 class EasyCostFunction : public SizedCostFunction<3, 5, 5> {
     53  public:
     54   virtual bool Evaluate(double const* const* parameters,
     55                         double* residuals,
     56                         double** /* not used */) const {
     57     return functor_(parameters[0], parameters[1], residuals);
     58   }
     59 
     60  private:
     61   EasyFunctor functor_;
     62 };
     63 
     64 // y1 = sin(x1'x2)
     65 // y2 = exp(-x1'x2 / 10)
     66 //
     67 // dy1/dx1 =  x2 * cos(x1'x2),            dy1/dx2 =  x1 * cos(x1'x2)
     68 // dy2/dx1 = -x2 * exp(-x1'x2 / 10) / 10, dy2/dx2 = -x2 * exp(-x1'x2 / 10) / 10
     69 class TranscendentalFunctor {
     70  public:
     71   bool operator()(const double* x1, const double* x2, double* residuals) const;
     72   void ExpectCostFunctionEvaluationIsNearlyCorrect(
     73       const CostFunction& cost_function,
     74       NumericDiffMethod method) const;
     75 };
     76 
     77 class TranscendentalCostFunction : public SizedCostFunction<2, 5, 5> {
     78  public:
     79   virtual bool Evaluate(double const* const* parameters,
     80                         double* residuals,
     81                         double** /* not used */) const {
     82     return functor_(parameters[0], parameters[1], residuals);
     83   }
     84  private:
     85   TranscendentalFunctor functor_;
     86 };
     87 
     88 }  // namespace internal
     89 }  // namespace ceres
     90 
     91 #endif  // CERES_INTERNAL_NUMERIC_DIFF_TEST_UTILS_H_
     92