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+// Ceres Solver - A fast non-linear least squares minimizer
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+// Copyright 2018 Google Inc. All rights reserved.
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+// http://ceres-solver.org/
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+//
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+// Redistribution and use in source and binary forms, with or without
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+// modification, are permitted provided that the following conditions are met:
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+//
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+// * Redistributions of source code must retain the above copyright notice,
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+// this list of conditions and the following disclaimer.
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+// * Redistributions in binary form must reproduce the above copyright notice,
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+// this list of conditions and the following disclaimer in the documentation
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+// and/or other materials provided with the distribution.
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+// * Neither the name of Google Inc. nor the names of its contributors may be
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+// used to endorse or promote products derived from this software without
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+// specific prior written permission.
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+//
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+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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+// POSSIBILITY OF SUCH DAMAGE.
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+//
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+// Authors: sameeragarwal@google.com (Sameer Agarwal)
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+
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+#include <memory>
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+
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+#include "benchmark/benchmark.h"
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+#include "ceres/ceres.h"
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+#include "ceres/jet.h"
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+
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+namespace ceres {
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+
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+// From the NIST problem collection.
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+struct Rat43CostFunctor {
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+ Rat43CostFunctor(const double x, const double y) : x_(x), y_(y) {}
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+
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+ template <typename T>
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+ bool operator()(const T* parameters, T* residuals) const {
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+ const T& b1 = parameters[0];
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+ const T& b2 = parameters[1];
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+ const T& b3 = parameters[2];
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+ const T& b4 = parameters[3];
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+ residuals[0] = b1 * pow(1.0 + exp(b2 - b3 * x_), -1.0 / b4) - y_;
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+ return true;
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+ }
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+
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+ private:
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+ const double x_;
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+ const double y_;
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+};
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+
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+// Simple implementation of autodiff using Jets directly instead of
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+// going through the machineary of AutoDiffCostFunction, which does
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+// the same thing, but much more generically.
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+class Rat43Automatic : public ceres::SizedCostFunction<1, 4> {
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+ public:
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+ Rat43Automatic(const Rat43CostFunctor* functor) : functor_(functor) {}
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+ virtual ~Rat43Automatic() {}
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+ virtual bool Evaluate(double const* const* parameters,
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+ double* residuals,
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+ double** jacobians) const {
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+ if (!jacobians) {
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+ return (*functor_)(parameters[0], residuals);
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+ }
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+
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+ typedef ceres::Jet<double, 4> JetT;
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+ JetT jets[4];
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+ for (int i = 0; i < 4; ++i) {
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+ jets[i].a = parameters[0][i];
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+ jets[i].v.setZero();
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+ jets[i].v[i] = 1.0;
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+ }
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+
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+ JetT result;
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+ (*functor_)(jets, &result);
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+
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+ residuals[0] = result.a;
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+ for (int i = 0; i < 4; ++i) {
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+ jacobians[0][i] = result.v[i];
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+ }
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+ return true;
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+ }
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+
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+ private:
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+ std::unique_ptr<const Rat43CostFunctor> functor_;
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+};
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+
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+static void BM_Rat43AutoDiff(benchmark::State& state) {
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+ double parameter_block1[] = {1., 2., 3., 4.};
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+ double* parameters[] = {parameter_block1};
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+
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+ double jacobian1[] = {0.0, 0.0, 0.0, 0.0};
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+ double residuals;
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+ double* jacobians[] = {jacobian1};
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+ const double x = 0.2;
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+ const double y = 0.3;
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+ std::unique_ptr<ceres::CostFunction> cost_function(
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+ new ceres::AutoDiffCostFunction<Rat43CostFunctor, 1, 4>(
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+ new Rat43CostFunctor(x, y)));
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+
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+ while (state.KeepRunning()) {
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+ cost_function->Evaluate(
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+ parameters, &residuals, state.range(0) ? jacobians : nullptr);
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+ }
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+}
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+BENCHMARK(BM_Rat43AutoDiff)->Arg(0)->Arg(1);
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+
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+} // namespace ceres
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+
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+BENCHMARK_MAIN();
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Sameer Agarwal