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// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
//
// This file is part of the roboptim.
//
// roboptim is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// roboptim is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#include "shared-tests/fixture.hh"
#include <iostream>
#include <roboptim/core/io.hh>
#include <roboptim/core/identity-function.hh>
#include <roboptim/core/derivable-parametrized-function.hh>
using namespace roboptim;
// Define a simple function.
struct ParametrizedDF : public DerivableParametrizedFunction<IdentityFunction>
{
ParametrizedDF () : DerivableParametrizedFunction<IdentityFunction> (1, 1, 1)
{}
result_t impl_compute (const argument_t& argument) const throw ()
{
return result_t (argument);
}
void impl_gradient (gradient_t& gradient,
const argument_t&,
size_type = 0,
size_type order = 0) const throw ()
{
gradient.setZero ();
switch (order)
{
case 0:
gradient[0] = 1.;
break;
case 1:
gradient[0] = 0.;
break;
}
}
};
#define CHECKME(PVALUE) \
{ \
(*output) << "Parameter is " << PVALUE << std::endl; \
parameter[0] = (PVALUE); \
IdentityFunction cst = pf (parameter); \
\
IdentityFunction::vector_t x (1); \
x[0] = 31.; \
(*output) \
<< cst << std::endl \
<< "Evaluate: " << std::endl \
<< cst (x) << std::endl \
<< "Gradient: " << std::endl \
<< cst.gradient (x) << std::endl \
<< "Jacobian: " << std::endl \
<< cst.jacobian (x) << std::endl \
<< "Derivative w.r.t params: " << std::endl \
<< cst.jacobian (x) << std::endl \
<< std::endl; \
} \
BOOST_FIXTURE_TEST_SUITE (core, TestSuiteConfiguration)
BOOST_AUTO_TEST_CASE (derivable_parametrized_function)
{
boost::shared_ptr<boost::test_tools::output_test_stream>
output = retrievePattern ("derivable-parametrized-function");
ParametrizedDF pf;
ParametrizedDF::argument_t parameter (1);
parameter.setZero ();
CHECKME (0.);
CHECKME (3.14);
CHECKME (42.);
{
parameter[0] = 128.;
IdentityFunction::vector_t x (1);
x[0] = 256.;
// Natural evaluation in one line.
IdentityFunction::result_t res = pf (parameter) (x);
BOOST_CHECK_EQUAL (res[0], 128. + 256.);
}
std::cout << output->str () << std::endl;
BOOST_CHECK (output->match_pattern ());
}
BOOST_AUTO_TEST_SUITE_END ()
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