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/ 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 #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 38 namespace ceres { 39 namespace 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 44 class 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 52 class EasyCostFunction : public SizedCostFunction<3, 5, 5> { 53 public: Evaluate(double const * const * parameters,double * residuals,double **)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 69 class 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 77 class TranscendentalCostFunction : public SizedCostFunction<2, 5, 5> { 78 public: Evaluate(double const * const * parameters,double * residuals,double **)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