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//
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9//   this list of conditions and the following disclaimer.
10// * Redistributions in binary form must reproduce the above copyright notice,
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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
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28//
29// Author: keir@google.com (Keir Mierle)
30//         sameeragarwal@google.com (Sameer Agarwal)
31
32#include "ceres/evaluator_test_utils.h"
33#include "ceres/internal/eigen.h"
34#include "gtest/gtest.h"
35
36namespace ceres {
37namespace internal {
38
39void CompareEvaluations(int expected_num_rows,
40                        int expected_num_cols,
41                        double expected_cost,
42                        const double* expected_residuals,
43                        const double* expected_gradient,
44                        const double* expected_jacobian,
45                        const double actual_cost,
46                        const double* actual_residuals,
47                        const double* actual_gradient,
48                        const double* actual_jacobian) {
49  EXPECT_EQ(expected_cost, actual_cost);
50
51  if (expected_residuals != NULL) {
52    ConstVectorRef expected_residuals_vector(expected_residuals,
53                                             expected_num_rows);
54    ConstVectorRef actual_residuals_vector(actual_residuals,
55                                           expected_num_rows);
56    EXPECT_TRUE((actual_residuals_vector.array() ==
57                 expected_residuals_vector.array()).all())
58        << "Actual:\n" << actual_residuals_vector
59        << "\nExpected:\n" << expected_residuals_vector;
60  }
61
62  if (expected_gradient != NULL) {
63    ConstVectorRef expected_gradient_vector(expected_gradient,
64                                            expected_num_cols);
65    ConstVectorRef actual_gradient_vector(actual_gradient,
66                                            expected_num_cols);
67
68    EXPECT_TRUE((actual_gradient_vector.array() ==
69                 expected_gradient_vector.array()).all())
70        << "Actual:\n" << actual_gradient_vector.transpose()
71        << "\nExpected:\n" << expected_gradient_vector.transpose();
72  }
73
74  if (expected_jacobian != NULL) {
75    ConstMatrixRef expected_jacobian_matrix(expected_jacobian,
76                                            expected_num_rows,
77                                            expected_num_cols);
78    ConstMatrixRef actual_jacobian_matrix(actual_jacobian,
79                                          expected_num_rows,
80                                          expected_num_cols);
81    EXPECT_TRUE((actual_jacobian_matrix.array() ==
82                 expected_jacobian_matrix.array()).all())
83        << "Actual:\n" << actual_jacobian_matrix
84        << "\nExpected:\n" << expected_jacobian_matrix;
85  }
86}
87
88}  // namespace internal
89}  // namespace ceres
90