| 12345678910111213141516171819202122232425262728293031323334353637383940414243444546474849505152535455565758596061626364656667 | // Ceres Solver - A fast non-linear least squares minimizer// Copyright 2017 Google Inc. All rights reserved.// http://ceres-solver.org///// Redistribution and use in source and binary forms, with or without// modification, are permitted provided that the following conditions are met://// * Redistributions of source code must retain the above copyright notice,//   this list of conditions and the following disclaimer.// * Redistributions in binary form must reproduce the above copyright notice,//   this list of conditions and the following disclaimer in the documentation//   and/or other materials provided with the distribution.// * Neither the name of Google Inc. nor the names of its contributors may be//   used to endorse or promote products derived from this software without//   specific prior written permission.//// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE// POSSIBILITY OF SUCH DAMAGE.//// Author: sameeragarwal@google.com (Sameer Agarwal)#include <cmath>#include <cstdlib>#include "ceres/ceres.h"#include "glog/logging.h"#include "gtest/gtest.h"namespace ceres {namespace internal {class QuadraticFirstOrderFunction : public ceres::FirstOrderFunction { public:  bool Evaluate(const double* parameters,                double* cost,                double* gradient) const final {    cost[0] = parameters[0] * parameters[0];    if (gradient != NULL) {      gradient[0] = 2.0 * parameters[0];    }    return true;  }  int NumParameters() const final { return 1; }};TEST(LineSearchMinimizerTest, FinalCostIsZero) {  double parameters[1] = {2.0};  ceres::GradientProblem problem(new QuadraticFirstOrderFunction);  ceres::GradientProblemSolver::Options options;  ceres::GradientProblemSolver::Summary summary;  ceres::Solve(options, problem, parameters, &summary);  EXPECT_NEAR(summary.final_cost, 0.0, std::numeric_limits<double>::epsilon());}}  // namespace internal}  // namespace ceres
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