1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://code.google.com/p/ceres-solver/
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6 // modification, are permitted provided that the following conditions are met:
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9 // this list of conditions and the following disclaimer.
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29 // Author: vitus@google.com (Michael Vitus)
31 #include "ceres/householder_vector.h"
32 #include "ceres/internal/eigen.h"
33 #include "glog/logging.h"
34 #include "gtest/gtest.h"
39 void HouseholderTestHelper(const Vector& x) {
40 const double kTolerance = 1e-14;
42 // Check to ensure that H * x = ||x|| * [0 ... 0 1]'.
45 ComputeHouseholderVector(x, &v, &beta);
46 Vector result = x - beta * v * (v.transpose() * x);
48 Vector expected_result(x.rows());
49 expected_result.setZero();
50 expected_result(x.rows() - 1) = 1;
51 expected_result *= x.norm();
53 for (int i = 0; i < x.rows(); ++i) {
54 EXPECT_NEAR(expected_result[i], result[i], kTolerance);
58 TEST(HouseholderVector, ZeroPositive) {
62 HouseholderTestHelper(x);
65 TEST(HouseholderVector, ZeroNegative) {
69 HouseholderTestHelper(x);
72 TEST(HouseholderVector, NearZeroPositive) {
74 x << 1e-18, 1e-18, 0.25;
76 HouseholderTestHelper(x);
79 TEST(HouseholderVector, NearZeroNegative) {
81 x << 1e-18, 1e-18, -0.25;
83 HouseholderTestHelper(x);
86 TEST(HouseholderVector, NonZeroNegative) {
90 HouseholderTestHelper(x);
93 TEST(HouseholderVector, NonZeroPositive) {
97 HouseholderTestHelper(x);
100 TEST(HouseholderVector, NonZeroPositive_Size4) {
102 x << 1.0, 1.0, 0.0, 2.0;
104 HouseholderTestHelper(x);
107 TEST(HouseholderVector, LastElementZero) {
109 x << 1.0, 1.0, 0.0, 0.0;
111 HouseholderTestHelper(x);
114 } // namespace internal