// Ceres Solver - A fast non-linear least squares minimizer

// Copyright 2015 Google Inc. All rights reserved.

// http://ceres-solver.org/

//

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//   used to endorse or promote products derived from this software without

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// Author: sameeragarwal@google.com (Sameer Agarwal)

#include "Eigen/Core"

#include "glog/logging.h"

#include "gtest/gtest.h"

#include "ceres/block_structure.h"

#include "ceres/detect_structure.h"

namespace ceres {

namespace internal {

TEST(DetectStructure, EverythingStatic) {

  const int expected_row_block_size = 2;

  const int expected_e_block_size = 3;

  const int expected_f_block_size = 4;

  CompressedRowBlockStructure bs;

  bs.cols.push_back(Block());

  bs.cols.back().size = 3;

  bs.cols.back().position = 0;

  bs.cols.push_back(Block());

  bs.cols.back().size = 4;

  bs.cols.back().position = 3;

  bs.cols.push_back(Block());

  bs.cols.back().size = 4;

  bs.cols.back().position = 7;

  {

    bs.rows.push_back(CompressedRow());

    CompressedRow& row = bs.rows.back();

    row.block.size = 2;

    row.block.position = 0;

    row.cells.push_back(Cell(0, 0));

    row.cells.push_back(Cell(1, 0));

  }

  {

    bs.rows.push_back(CompressedRow());

    CompressedRow& row = bs.rows.back();

    row.block.size = 2;

    row.block.position = 2;

    row.cells.push_back(Cell(0, 0));

    row.cells.push_back(Cell(2, 0));

  }

  int row_block_size = 0;

  int e_block_size = 0;

  int f_block_size = 0;

  const int num_eliminate_blocks = 1;

  DetectStructure(bs,

                  num_eliminate_blocks,

                  &row_block_size,

                  &e_block_size,

                  &f_block_size);

  EXPECT_EQ(row_block_size, expected_row_block_size);

  EXPECT_EQ(e_block_size, expected_e_block_size);

  EXPECT_EQ(f_block_size, expected_f_block_size);

}

TEST(DetectStructure, DynamicRow) {

  const int expected_row_block_size = Eigen::Dynamic;

  const int expected_e_block_size = 3;

  const int expected_f_block_size = 4;

  CompressedRowBlockStructure bs;

  bs.cols.push_back(Block());

  bs.cols.back().size = 3;

  bs.cols.back().position = 0;

  bs.cols.push_back(Block());

  bs.cols.back().size = 4;

  bs.cols.back().position = 3;

  bs.cols.push_back(Block());

  bs.cols.back().size = 4;

  bs.cols.back().position = 7;

  {

    bs.rows.push_back(CompressedRow());

    CompressedRow& row = bs.rows.back();

    row.block.size = 2;

    row.block.position = 0;

    row.cells.push_back(Cell(0, 0));

    row.cells.push_back(Cell(1, 0));

  }

  {

    bs.rows.push_back(CompressedRow());

    CompressedRow& row = bs.rows.back();

    row.block.size = 1;

    row.block.position = 2;

    row.cells.push_back(Cell(0, 0));

    row.cells.push_back(Cell(2, 0));

  }

  int row_block_size = 0;

  int e_block_size = 0;

  int f_block_size = 0;

  const int num_eliminate_blocks = 1;

  DetectStructure(bs,

                  num_eliminate_blocks,

                  &row_block_size,

                  &e_block_size,

                  &f_block_size);

  EXPECT_EQ(row_block_size, expected_row_block_size);

  EXPECT_EQ(e_block_size, expected_e_block_size);

  EXPECT_EQ(f_block_size, expected_f_block_size);

}

TEST(DetectStructure, DynamicFBlockDifferentRows) {

  const int expected_row_block_size = 2;

  const int expected_e_block_size = 3;

  const int expected_f_block_size = Eigen::Dynamic;

  CompressedRowBlockStructure bs;

  bs.cols.push_back(Block());

  bs.cols.back().size = 3;

  bs.cols.back().position = 0;

  bs.cols.push_back(Block());

  bs.cols.back().size = 4;

  bs.cols.back().position = 3;

  bs.cols.push_back(Block());

  bs.cols.back().size = 3;

  bs.cols.back().position = 7;

  {

    bs.rows.push_back(CompressedRow());

    CompressedRow& row = bs.rows.back();

    row.block.size = 2;

    row.block.position = 0;

    row.cells.push_back(Cell(0, 0));

    row.cells.push_back(Cell(1, 0));

  }

  {

    bs.rows.push_back(CompressedRow());

    CompressedRow& row = bs.rows.back();

    row.block.size = 2;

    row.block.position = 2;

    row.cells.push_back(Cell(0, 0));

    row.cells.push_back(Cell(2, 0));

  }

  int row_block_size = 0;

  int e_block_size = 0;

  int f_block_size = 0;

  const int num_eliminate_blocks = 1;

  DetectStructure(bs,

                  num_eliminate_blocks,

                  &row_block_size,

                  &e_block_size,

                  &f_block_size);

  EXPECT_EQ(row_block_size, expected_row_block_size);

  EXPECT_EQ(e_block_size, expected_e_block_size);

  EXPECT_EQ(f_block_size, expected_f_block_size);

}

TEST(DetectStructure, DynamicEBlock) {

  const int expected_row_block_size = 2;

  const int expected_e_block_size = Eigen::Dynamic;

  const int expected_f_block_size = 3;

  CompressedRowBlockStructure bs;

  bs.cols.push_back(Block());

  bs.cols.back().size = 3;

  bs.cols.back().position = 0;

  bs.cols.push_back(Block());

  bs.cols.back().size = 4;

  bs.cols.back().position = 3;

  bs.cols.push_back(Block());

  bs.cols.back().size = 3;

  bs.cols.back().position = 7;

  {

    bs.rows.push_back(CompressedRow());

    CompressedRow& row = bs.rows.back();

    row.block.size = 2;

    row.block.position = 0;

    row.cells.push_back(Cell(0, 0));

    row.cells.push_back(Cell(2, 0));

  }

  {

    bs.rows.push_back(CompressedRow());

    CompressedRow& row = bs.rows.back();

    row.block.size = 2;

    row.block.position = 2;

    row.cells.push_back(Cell(1, 0));

    row.cells.push_back(Cell(2, 0));

  }

  int row_block_size = 0;

  int e_block_size = 0;

  int f_block_size = 0;

  const int num_eliminate_blocks = 2;

  DetectStructure(bs,

                  num_eliminate_blocks,

                  &row_block_size,

                  &e_block_size,

                  &f_block_size);

  EXPECT_EQ(row_block_size, expected_row_block_size);

  EXPECT_EQ(e_block_size, expected_e_block_size);

  EXPECT_EQ(f_block_size, expected_f_block_size);

}

TEST(DetectStructure, DynamicFBlockSameRow) {

  const int expected_row_block_size = 2;

  const int expected_e_block_size = 3;

  const int expected_f_block_size = Eigen::Dynamic;

  CompressedRowBlockStructure bs;

  bs.cols.push_back(Block());

  bs.cols.back().size = 3;

  bs.cols.back().position = 0;

  bs.cols.push_back(Block());

  bs.cols.back().size = 4;

  bs.cols.back().position = 3;

  bs.cols.push_back(Block());

  bs.cols.back().size = 3;

  bs.cols.back().position = 7;

  {

    bs.rows.push_back(CompressedRow());

    CompressedRow& row = bs.rows.back();

    row.block.size = 2;

    row.block.position = 0;

    row.cells.push_back(Cell(0, 0));

    row.cells.push_back(Cell(1, 0));

    row.cells.push_back(Cell(2, 0));

  }

  int row_block_size = 0;

  int e_block_size = 0;

  int f_block_size = 0;

  const int num_eliminate_blocks = 1;

  DetectStructure(bs,

                  num_eliminate_blocks,

                  &row_block_size,

                  &e_block_size,

                  &f_block_size);

  EXPECT_EQ(row_block_size, expected_row_block_size);

  EXPECT_EQ(e_block_size, expected_e_block_size);

  EXPECT_EQ(f_block_size, expected_f_block_size);

}

}  // namespace internal

}  // namespace ceres