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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// 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 {
namespace 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 internal
} // namespace ceres
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