internal/ceres/evaluator_test_utils.cc

   1 // Ceres Solver - A fast non-linear least squares minimizer
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  29 // Author: keir@google.com (Keir Mierle)
  30 //         sameeragarwal@google.com (Sameer Agarwal)
  31
  32 #include "ceres/evaluator_test_utils.h"
  33 #include "ceres/internal/eigen.h"
  34 #include "gtest/gtest.h"
  35
  36 namespace ceres {
  37 namespace internal {
  38
  39 void CompareEvaluations(int expected_num_rows,
  40                         int expected_num_cols,
  41                         double expected_cost,
  42                         const double* expected_residuals,
  43                         const double* expected_gradient,
  44                         const double* expected_jacobian,
  45                         const double actual_cost,
  46                         const double* actual_residuals,
  47                         const double* actual_gradient,
  48                         const double* actual_jacobian) {
  49   EXPECT_EQ(expected_cost, actual_cost);
  50
  51   if (expected_residuals != NULL) {
  52     ConstVectorRef expected_residuals_vector(expected_residuals,
  53                                              expected_num_rows);
  54     ConstVectorRef actual_residuals_vector(actual_residuals,
  55                                            expected_num_rows);
  56     EXPECT_TRUE((actual_residuals_vector.array() ==
  57                  expected_residuals_vector.array()).all())
  58         << "Actual:\n" << actual_residuals_vector
  59         << "\nExpected:\n" << expected_residuals_vector;
  60   }
  61
  62   if (expected_gradient != NULL) {
  63     ConstVectorRef expected_gradient_vector(expected_gradient,
  64                                             expected_num_cols);
  65     ConstVectorRef actual_gradient_vector(actual_gradient,
  66                                             expected_num_cols);
  67
  68     EXPECT_TRUE((actual_gradient_vector.array() ==
  69                  expected_gradient_vector.array()).all())
  70         << "Actual:\n" << actual_gradient_vector.transpose()
  71         << "\nExpected:\n" << expected_gradient_vector.transpose();
  72   }
  73
  74   if (expected_jacobian != NULL) {
  75     ConstMatrixRef expected_jacobian_matrix(expected_jacobian,
  76                                             expected_num_rows,
  77                                             expected_num_cols);
  78     ConstMatrixRef actual_jacobian_matrix(actual_jacobian,
  79                                           expected_num_rows,
  80                                           expected_num_cols);
  81     EXPECT_TRUE((actual_jacobian_matrix.array() ==
  82                  expected_jacobian_matrix.array()).all())
  83         << "Actual:\n" << actual_jacobian_matrix
  84         << "\nExpected:\n" << expected_jacobian_matrix;
  85   }
  86 }
  87
  88 }  // namespace internal
  89 }  // namespace ceres