10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Author: sameeragarwal@google.com (Sameer Agarwal) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/graph.h" 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "gtest/gtest.h" 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/collections_port.h" 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/scoped_ptr.h" 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST(Graph, EmptyGraph) { 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Graph<int> graph; 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph.vertices().size(), 0); 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST(Graph, AddVertexAndEdge) { 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Graph<int> graph; 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph.AddVertex(0, 1.0); 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph.AddVertex(1, 2.0); 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph.AddEdge(0, 1, 0.5); 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const HashSet<int>& vertices = graph.vertices(); 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(vertices.size(), 2); 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph.VertexWeight(0), 1.0); 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph.VertexWeight(1), 2.0); 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph.Neighbors(0).size(), 1); 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph.Neighbors(1).size(), 1); 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph.EdgeWeight(0, 1), 0.5); 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph.EdgeWeight(1, 0), 0.5); 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST(Graph, AddVertexIdempotence) { 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Graph<int> graph; 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph.AddVertex(0, 1.0); 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph.AddVertex(1, 2.0); 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph.AddEdge(0, 1, 0.5); 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const HashSet<int>& vertices = graph.vertices(); 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(vertices.size(), 2); 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Try adding the vertex again with a new weight. 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph.AddVertex(0, 3.0); 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(vertices.size(), 2); 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // The vertex weight is reset. 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph.VertexWeight(0), 3.0); 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Rest of the graph remains the same. 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph.VertexWeight(1), 2.0); 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph.Neighbors(0).size(), 1); 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph.Neighbors(1).size(), 1); 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph.EdgeWeight(0, 1), 0.5); 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph.EdgeWeight(1, 0), 0.5); 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST(Graph, DieOnNonExistentVertex) { 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Graph<int> graph; 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph.AddVertex(0, 1.0); 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph.AddVertex(1, 2.0); 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph.AddEdge(0, 1, 0.5); 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_DEATH_IF_SUPPORTED(graph.VertexWeight(2), "key not found"); 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_DEATH_IF_SUPPORTED(graph.Neighbors(2), "key not found"); 940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongTEST(Graph, NonExistentEdge) { 970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Graph<int> graph; 980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph.AddVertex(0, 1.0); 990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph.AddVertex(1, 2.0); 1000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong graph.AddEdge(0, 1, 0.5); 1010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Default value for non-existent edges is 0. 1030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EXPECT_EQ(graph.EdgeWeight(2, 3), 0); 1040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 1070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 108