| Austin Schuh | 70cc955 | 2019-01-21 19:46:48 -0800 | [diff] [blame^] | 1 | // Ceres Solver - A fast non-linear least squares minimizer |
| 2 | // Copyright 2017 Google Inc. All rights reserved. |
| 3 | // http://ceres-solver.org/ |
| 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 | #include <cmath> |
| 32 | #include <cstdlib> |
| 33 | |
| 34 | #include "ceres/ceres.h" |
| 35 | #include "glog/logging.h" |
| 36 | #include "gtest/gtest.h" |
| 37 | |
| 38 | namespace ceres { |
| 39 | namespace internal { |
| 40 | |
| 41 | class QuadraticFirstOrderFunction : public ceres::FirstOrderFunction { |
| 42 | public: |
| 43 | virtual bool Evaluate(const double* parameters, |
| 44 | double* cost, |
| 45 | double* gradient) const { |
| 46 | |
| 47 | cost[0] = parameters[0] * parameters[0]; |
| 48 | if (gradient != NULL) { |
| 49 | gradient[0] = 2.0 * parameters[0]; |
| 50 | } |
| 51 | return true; |
| 52 | } |
| 53 | |
| 54 | virtual int NumParameters() const { return 1; } |
| 55 | }; |
| 56 | |
| 57 | TEST(LineSearchMinimizerTest, FinalCostIsZero) { |
| 58 | double parameters[1] = {2.0}; |
| 59 | ceres::GradientProblem problem(new QuadraticFirstOrderFunction); |
| 60 | ceres::GradientProblemSolver::Options options; |
| 61 | ceres::GradientProblemSolver::Summary summary; |
| 62 | ceres::Solve(options, problem, parameters, &summary); |
| 63 | EXPECT_NEAR(summary.final_cost, 0.0, std::numeric_limits<double>::epsilon()); |
| 64 | } |
| 65 | |
| 66 | } // namespace internal |
| 67 | } // namespace ceres |