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@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 38namespace ceres { 39namespace 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 44class 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 52class 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 69class 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 77class 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