1// Ceres Solver - A fast non-linear least squares minimizer
2// Copyright 2014 Google Inc. All rights reserved.
3// http://code.google.com/p/ceres-solver/
4//
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16//
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28//
29// Author: sameeragarwal@google.com (Sameer Agarwal)
30
31#include "gtest/gtest.h"
32#include "ceres/autodiff_cost_function.h"
33#include "ceres/linear_solver.h"
34#include "ceres/ordered_groups.h"
35#include "ceres/parameter_block.h"
36#include "ceres/problem_impl.h"
37#include "ceres/program.h"
38#include "ceres/residual_block.h"
39#include "ceres/solver_impl.h"
40#include "ceres/sized_cost_function.h"
41
42namespace ceres {
43namespace internal {
44
45// The parameters must be in separate blocks so that they can be individually
46// set constant or not.
47struct Quadratic4DCostFunction {
48  template <typename T> bool operator()(const T* const x,
49                                        const T* const y,
50                                        const T* const z,
51                                        const T* const w,
52                                        T* residual) const {
53    // A 4-dimension axis-aligned quadratic.
54    residual[0] = T(10.0) - *x +
55                  T(20.0) - *y +
56                  T(30.0) - *z +
57                  T(40.0) - *w;
58    return true;
59  }
60};
61
62TEST(SolverImpl, ConstantParameterBlocksDoNotChangeAndStateInvariantKept) {
63  double x = 50.0;
64  double y = 50.0;
65  double z = 50.0;
66  double w = 50.0;
67  const double original_x = 50.0;
68  const double original_y = 50.0;
69  const double original_z = 50.0;
70  const double original_w = 50.0;
71
72  scoped_ptr<CostFunction> cost_function(
73      new AutoDiffCostFunction<Quadratic4DCostFunction, 1, 1, 1, 1, 1>(
74          new Quadratic4DCostFunction));
75
76  Problem::Options problem_options;
77  problem_options.cost_function_ownership = DO_NOT_TAKE_OWNERSHIP;
78
79  ProblemImpl problem(problem_options);
80  problem.AddResidualBlock(cost_function.get(), NULL, &x, &y, &z, &w);
81  problem.SetParameterBlockConstant(&x);
82  problem.SetParameterBlockConstant(&w);
83
84  Solver::Options options;
85  options.linear_solver_type = DENSE_QR;
86
87  Solver::Summary summary;
88  SolverImpl::Solve(options, &problem, &summary);
89
90  // Verify only the non-constant parameters were mutated.
91  EXPECT_EQ(original_x, x);
92  EXPECT_NE(original_y, y);
93  EXPECT_NE(original_z, z);
94  EXPECT_EQ(original_w, w);
95
96  // Check that the parameter block state pointers are pointing back at the
97  // user state, instead of inside a random temporary vector made by Solve().
98  EXPECT_EQ(&x, problem.program().parameter_blocks()[0]->state());
99  EXPECT_EQ(&y, problem.program().parameter_blocks()[1]->state());
100  EXPECT_EQ(&z, problem.program().parameter_blocks()[2]->state());
101  EXPECT_EQ(&w, problem.program().parameter_blocks()[3]->state());
102
103  EXPECT_TRUE(problem.program().IsValid());
104}
105
106}  // namespace internal
107}  // namespace ceres
108