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#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