| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316 | // Ceres Solver - A fast non-linear least squares minimizer// Copyright 2019 Google Inc. All rights reserved.// http://code.google.com/p/ceres-solver///// 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: darius.rueckert@fau.de (Darius Rueckert)//// This file tests the Expression class. For each member function one test is// included here.//#include "ceres/codegen/internal/expression.h"#include "gtest/gtest.h"namespace ceres {namespace internal {TEST(Expression, ConstructorAndAccessors) {  Expression expr(ExpressionType::LOGICAL_NEGATION,                  ExpressionReturnType::BOOLEAN,                  12345,                  {1, 5, 8, 10},                  "TestConstructor",                  57.25);  EXPECT_EQ(expr.type(), ExpressionType::LOGICAL_NEGATION);  EXPECT_EQ(expr.return_type(), ExpressionReturnType::BOOLEAN);  EXPECT_EQ(expr.lhs_id(), 12345);  EXPECT_EQ(expr.arguments(), std::vector<ExpressionId>({1, 5, 8, 10}));  EXPECT_EQ(expr.name(), "TestConstructor");  EXPECT_EQ(expr.value(), 57.25);}TEST(Expression, CreateFunctions) {  // The default constructor creates a NOP!  EXPECT_EQ(Expression(),            Expression(ExpressionType::NOP,                       ExpressionReturnType::VOID,                       kInvalidExpressionId,                       {},                       "",                       0));  EXPECT_EQ(Expression::CreateCompileTimeConstant(72),            Expression(ExpressionType::COMPILE_TIME_CONSTANT,                       ExpressionReturnType::SCALAR,                       kInvalidExpressionId,                       {},                       "",                       72));  EXPECT_EQ(Expression::CreateInputAssignment("arguments[0][0]"),            Expression(ExpressionType::INPUT_ASSIGNMENT,                       ExpressionReturnType::SCALAR,                       kInvalidExpressionId,                       {},                       "arguments[0][0]",                       0));  EXPECT_EQ(Expression::CreateOutputAssignment(ExpressionId(5), "residuals[3]"),            Expression(ExpressionType::OUTPUT_ASSIGNMENT,                       ExpressionReturnType::SCALAR,                       kInvalidExpressionId,                       {5},                       "residuals[3]",                       0));  EXPECT_EQ(Expression::CreateAssignment(ExpressionId(3), ExpressionId(5)),            Expression(ExpressionType::ASSIGNMENT,                       ExpressionReturnType::SCALAR,                       3,                       {5},                       "",                       0));  EXPECT_EQ(      Expression::CreateBinaryArithmetic("+", ExpressionId(3), ExpressionId(5)),      Expression(ExpressionType::BINARY_ARITHMETIC,                 ExpressionReturnType::SCALAR,                 kInvalidExpressionId,                 {3, 5},                 "+",                 0));  EXPECT_EQ(Expression::CreateUnaryArithmetic("-", ExpressionId(5)),            Expression(ExpressionType::UNARY_ARITHMETIC,                       ExpressionReturnType::SCALAR,                       kInvalidExpressionId,                       {5},                       "-",                       0));  EXPECT_EQ(      Expression::CreateBinaryCompare("<", ExpressionId(3), ExpressionId(5)),      Expression(ExpressionType::BINARY_COMPARISON,                 ExpressionReturnType::BOOLEAN,                 kInvalidExpressionId,                 {3, 5},                 "<",                 0));  EXPECT_EQ(Expression::CreateLogicalNegation(ExpressionId(5)),            Expression(ExpressionType::LOGICAL_NEGATION,                       ExpressionReturnType::BOOLEAN,                       kInvalidExpressionId,                       {5},                       "",                       0));  EXPECT_EQ(Expression::CreateScalarFunctionCall(                "pow", {ExpressionId(3), ExpressionId(5)}),            Expression(ExpressionType::FUNCTION_CALL,                       ExpressionReturnType::SCALAR,                       kInvalidExpressionId,                       {3, 5},                       "pow",                       0));  EXPECT_EQ(      Expression::CreateLogicalFunctionCall("isfinite", {ExpressionId(3)}),      Expression(ExpressionType::FUNCTION_CALL,                 ExpressionReturnType::BOOLEAN,                 kInvalidExpressionId,                 {3},                 "isfinite",                 0));  EXPECT_EQ(Expression::CreateIf(ExpressionId(5)),            Expression(ExpressionType::IF,                       ExpressionReturnType::VOID,                       kInvalidExpressionId,                       {5},                       "",                       0));  EXPECT_EQ(Expression::CreateElse(),            Expression(ExpressionType::ELSE,                       ExpressionReturnType::VOID,                       kInvalidExpressionId,                       {},                       "",                       0));  EXPECT_EQ(Expression::CreateEndIf(),            Expression(ExpressionType::ENDIF,                       ExpressionReturnType::VOID,                       kInvalidExpressionId,                       {},                       "",                       0));}TEST(Expression, IsArithmeticExpression) {  ASSERT_TRUE(      Expression::CreateCompileTimeConstant(5).IsArithmeticExpression());  ASSERT_TRUE(Expression::CreateScalarFunctionCall("pow", {3, 5})                  .IsArithmeticExpression());  // Logical expression are also arithmetic!  ASSERT_TRUE(      Expression::CreateBinaryCompare("<", 3, 5).IsArithmeticExpression());  ASSERT_FALSE(Expression::CreateIf(5).IsArithmeticExpression());  ASSERT_FALSE(Expression::CreateEndIf().IsArithmeticExpression());  ASSERT_FALSE(Expression().IsArithmeticExpression());}TEST(Expression, IsControlExpression) {  // In the current implementation this is the exact opposite of  // IsArithmeticExpression.  ASSERT_FALSE(Expression::CreateCompileTimeConstant(5).IsControlExpression());  ASSERT_FALSE(Expression::CreateScalarFunctionCall("pow", {3, 5})                   .IsControlExpression());  ASSERT_FALSE(      Expression::CreateBinaryCompare("<", 3, 5).IsControlExpression());  ASSERT_TRUE(Expression::CreateIf(5).IsControlExpression());  ASSERT_TRUE(Expression::CreateEndIf().IsControlExpression());  ASSERT_TRUE(Expression().IsControlExpression());}TEST(Expression, IsCompileTimeConstantAndEqualTo) {  ASSERT_TRUE(      Expression::CreateCompileTimeConstant(5).IsCompileTimeConstantAndEqualTo(          5));  ASSERT_FALSE(      Expression::CreateCompileTimeConstant(3).IsCompileTimeConstantAndEqualTo(          5));  ASSERT_FALSE(Expression::CreateBinaryCompare("<", 3, 5)                   .IsCompileTimeConstantAndEqualTo(5));}TEST(Expression, IsReplaceableBy) {  // Create 2 identical expression  auto expr1 =      Expression::CreateBinaryArithmetic("+", ExpressionId(3), ExpressionId(5));  auto expr2 =      Expression::CreateBinaryArithmetic("+", ExpressionId(3), ExpressionId(5));  // They are idendical and of course replaceable  ASSERT_EQ(expr1, expr2);  ASSERT_EQ(expr2, expr1);  ASSERT_TRUE(expr1.IsReplaceableBy(expr2));  ASSERT_TRUE(expr2.IsReplaceableBy(expr1));  // Give them different left hand sides  expr1.set_lhs_id(72);  expr2.set_lhs_id(42);  // v_72 = v_3 + v_5  // v_42 = v_3 + v_5  // -> They should be replaceable by each other  ASSERT_NE(expr1, expr2);  ASSERT_NE(expr2, expr1);  ASSERT_TRUE(expr1.IsReplaceableBy(expr2));  ASSERT_TRUE(expr2.IsReplaceableBy(expr1));  // A slightly differnt expression with the argument flipped  auto expr3 =      Expression::CreateBinaryArithmetic("+", ExpressionId(5), ExpressionId(3));  ASSERT_NE(expr1, expr3);  ASSERT_FALSE(expr1.IsReplaceableBy(expr3));}TEST(Expression, Replace) {  auto expr1 =      Expression::CreateBinaryArithmetic("+", ExpressionId(3), ExpressionId(5));  expr1.set_lhs_id(13);  auto expr2 =      Expression::CreateAssignment(kInvalidExpressionId, ExpressionId(7));  // We replace the arithmetic expr1 by an assignment from the variable 7. This  // is the typical usecase in subexpression elimination.  expr1.Replace(expr2);  // expr1 should now be an assignment from 7 to 13  EXPECT_EQ(expr1,            Expression(ExpressionType::ASSIGNMENT,                       ExpressionReturnType::SCALAR,                       13,                       {7},                       "",                       0));}TEST(Expression, DirectlyDependsOn) {  auto expr1 =      Expression::CreateBinaryArithmetic("+", ExpressionId(3), ExpressionId(5));  ASSERT_TRUE(expr1.DirectlyDependsOn(ExpressionId(3)));  ASSERT_TRUE(expr1.DirectlyDependsOn(ExpressionId(5)));  ASSERT_FALSE(expr1.DirectlyDependsOn(ExpressionId(kInvalidExpressionId)));  ASSERT_FALSE(expr1.DirectlyDependsOn(ExpressionId(42)));}TEST(Expression, MakeNop) {  auto expr1 =      Expression::CreateBinaryArithmetic("+", ExpressionId(3), ExpressionId(5));  expr1.MakeNop();  EXPECT_EQ(expr1,            Expression(ExpressionType::NOP,                       ExpressionReturnType::VOID,                       kInvalidExpressionId,                       {},                       "",                       0));}TEST(Expression, IsSemanticallyEquivalentTo) {  // Create 2 identical expression  auto expr1 =      Expression::CreateBinaryArithmetic("+", ExpressionId(3), ExpressionId(5));  auto expr2 =      Expression::CreateBinaryArithmetic("+", ExpressionId(3), ExpressionId(5));  ASSERT_TRUE(expr1.IsSemanticallyEquivalentTo(expr1));  ASSERT_TRUE(expr1.IsSemanticallyEquivalentTo(expr2));  auto expr3 =      Expression::CreateBinaryArithmetic("+", ExpressionId(3), ExpressionId(8));  ASSERT_TRUE(expr1.IsSemanticallyEquivalentTo(expr3));  auto expr4 =      Expression::CreateBinaryArithmetic("-", ExpressionId(3), ExpressionId(5));  ASSERT_FALSE(expr1.IsSemanticallyEquivalentTo(expr4));}}  // namespace internal}  // namespace ceres
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