Squashed 'third_party/ceres/' content from commit e51e9b4
Change-Id: I763587619d57e594d3fa158dc3a7fe0b89a1743b
git-subtree-dir: third_party/ceres
git-subtree-split: e51e9b46f6ca88ab8b2266d0e362771db6d98067
diff --git a/internal/ceres/householder_vector_test.cc b/internal/ceres/householder_vector_test.cc
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vitus@google.com (Michael Vitus)
+
+#include "ceres/householder_vector.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+void HouseholderTestHelper(const Vector& x) {
+ const double kTolerance = 1e-14;
+
+ // Check to ensure that H * x = ||x|| * [0 ... 0 1]'.
+ Vector v(x.rows());
+ double beta;
+ ComputeHouseholderVector(x, &v, &beta);
+ Vector result = x - beta * v * (v.transpose() * x);
+
+ Vector expected_result(x.rows());
+ expected_result.setZero();
+ expected_result(x.rows() - 1) = 1;
+ expected_result *= x.norm();
+
+ for (int i = 0; i < x.rows(); ++i) {
+ EXPECT_NEAR(expected_result[i], result[i], kTolerance);
+ }
+}
+
+TEST(HouseholderVector, ZeroPositive) {
+ Vector x(3);
+ x << 0.0, 0.0, 0.25;
+
+ HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, ZeroNegative) {
+ Vector x(3);
+ x << 0.0, 0.0, -0.25;
+
+ HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NearZeroPositive) {
+ Vector x(3);
+ x << 1e-18, 1e-18, 0.25;
+
+ HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NearZeroNegative) {
+ Vector x(3);
+ x << 1e-18, 1e-18, -0.25;
+
+ HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NonZeroNegative) {
+ Vector x(3);
+ x << 1.0, 0.0, -3.0;
+
+ HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NonZeroPositive) {
+ Vector x(3);
+ x << 1.0, 1.0, 1.0;
+
+ HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NonZeroPositive_Size4) {
+ Vector x(4);
+ x << 1.0, 1.0, 0.0, 2.0;
+
+ HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, LastElementZero) {
+ Vector x(4);
+ x << 1.0, 1.0, 0.0, 0.0;
+
+ HouseholderTestHelper(x);
+}
+
+} // namespace internal
+} // namespace ceres