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/
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29// Author: sameeragarwal@google.com (Sameer Agarwal)
30
31#include "ceres/numeric_diff_functor.h"
32
33#include <algorithm>
34#include <cmath>
35#include <string>
36#include <vector>
37#include "ceres/autodiff_cost_function.h"
38#include "ceres/internal/scoped_ptr.h"
39#include "ceres/numeric_diff_test_utils.h"
40#include "ceres/test_util.h"
41#include "ceres/types.h"
42#include "glog/logging.h"
43#include "gtest/gtest.h"
44
45namespace ceres {
46namespace internal {
47
48TEST(NumericDiffCostFunction, EasyCaseCentralDifferences) {
49  typedef NumericDiffFunctor<EasyFunctor, CENTRAL, 3, 5, 5>
50      NumericDiffEasyFunctor;
51
52  internal::scoped_ptr<CostFunction> cost_function;
53  EasyFunctor functor;
54
55  cost_function.reset(
56      new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
57          new NumericDiffEasyFunctor));
58
59  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
60
61  cost_function.reset(
62      new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
63          new NumericDiffEasyFunctor(new EasyFunctor)));
64  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
65}
66
67TEST(NumericDiffCostFunction, EasyCaseForwardDifferences) {
68  typedef NumericDiffFunctor<EasyFunctor, FORWARD, 3, 5, 5>
69      NumericDiffEasyFunctor;
70
71  internal::scoped_ptr<CostFunction> cost_function;
72  EasyFunctor functor;
73
74  cost_function.reset(
75      new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
76          new NumericDiffEasyFunctor));
77
78  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
79
80  cost_function.reset(
81      new AutoDiffCostFunction<NumericDiffEasyFunctor, 3, 5, 5>(
82          new NumericDiffEasyFunctor(new EasyFunctor)));
83  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
84}
85
86TEST(NumericDiffCostFunction, TranscendentalCaseCentralDifferences) {
87  typedef NumericDiffFunctor<TranscendentalFunctor, CENTRAL, 2, 5, 5>
88      NumericDiffTranscendentalFunctor;
89
90  internal::scoped_ptr<CostFunction> cost_function;
91  TranscendentalFunctor functor;
92
93  cost_function.reset(
94      new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
95          new NumericDiffTranscendentalFunctor));
96
97  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
98
99  cost_function.reset(
100      new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
101          new NumericDiffTranscendentalFunctor(new TranscendentalFunctor)));
102  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
103}
104
105TEST(NumericDiffCostFunction, TranscendentalCaseForwardDifferences) {
106  typedef NumericDiffFunctor<TranscendentalFunctor, FORWARD, 2, 5, 5>
107      NumericDiffTranscendentalFunctor;
108
109  internal::scoped_ptr<CostFunction> cost_function;
110  TranscendentalFunctor functor;
111
112  cost_function.reset(
113      new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
114          new NumericDiffTranscendentalFunctor));
115
116  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
117
118  cost_function.reset(
119      new AutoDiffCostFunction<NumericDiffTranscendentalFunctor, 2, 5, 5>(
120          new NumericDiffTranscendentalFunctor(new TranscendentalFunctor)));
121  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
122}
123
124}  // namespace internal
125}  // namespace ceres
126