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

// Copyright 2015 Google Inc. All rights reserved.

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

//

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// modification, are permitted provided that the following conditions are met:

//

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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 <map>

#include "ceres/ordered_groups.h"

#include "ceres/problem_impl.h"

#include "ceres/sized_cost_function.h"

#include "ceres/solver.h"

#include "ceres/trust_region_preprocessor.h"

#include "gtest/gtest.h"

namespace ceres {

namespace internal {

TEST(TrustRegionPreprocessor, ZeroProblem) {

  ProblemImpl problem;

  Solver::Options options;

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));

}

TEST(TrustRegionPreprocessor, ProblemWithInvalidParameterBlock) {

  ProblemImpl problem;

  double x = std::numeric_limits<double>::quiet_NaN();

  problem.AddParameterBlock(&x, 1);

  Solver::Options options;

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));

}

TEST(TrustRegionPreprocessor, ParameterBlockBoundsAreInvalid) {

  ProblemImpl problem;

  double x = 1.0;

  problem.AddParameterBlock(&x, 1);

  problem.SetParameterUpperBound(&x, 0, 1.0);

  problem.SetParameterLowerBound(&x, 0, 2.0);

  Solver::Options options;

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));

}

TEST(TrustRegionPreprocessor, ParamterBlockIsInfeasible) {

  ProblemImpl problem;

  double x = 3.0;

  problem.AddParameterBlock(&x, 1);

  problem.SetParameterUpperBound(&x, 0, 1.0);

  problem.SetParameterLowerBound(&x, 0, 2.0);

  problem.SetParameterBlockConstant(&x);

  Solver::Options options;

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));

}

class FailingCostFunction : public SizedCostFunction<1, 1> {

 public:

  bool Evaluate(double const* const* parameters,

                double* residuals,

                double** jacobians) const {

    return false;

  }

};

TEST(TrustRegionPreprocessor, RemoveParameterBlocksFailed) {

  ProblemImpl problem;

  double x = 3.0;

  problem.AddResidualBlock(new FailingCostFunction, NULL, &x);

  problem.SetParameterBlockConstant(&x);

  Solver::Options options;

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));

}

TEST(TrustRegionPreprocessor, RemoveParameterBlocksSucceeds) {

  ProblemImpl problem;

  double x = 3.0;

  problem.AddParameterBlock(&x, 1);

  Solver::Options options;

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));

}

template<int kNumResiduals, int N1 = 0, int N2 = 0, int N3 = 0>

class DummyCostFunction : public SizedCostFunction<kNumResiduals, N1, N2, N3> {

 public:

  bool Evaluate(double const* const* parameters,

                double* residuals,

                double** jacobians) const {

    for (int i = 0; i < kNumResiduals; ++i) {

      residuals[i] = kNumResiduals * kNumResiduals + i;

    }

    if (jacobians == NULL) {

      return true;

    }

    if (jacobians[0] != NULL) {

      MatrixRef j(jacobians[0], kNumResiduals, N1);

      j.setOnes();

      j *= kNumResiduals * N1;

    }

    if (N2 == 0) {

      return true;

    }

    if (jacobians[1] != NULL) {

      MatrixRef j(jacobians[1], kNumResiduals, N2);

      j.setOnes();

      j *= kNumResiduals * N2;

    }

    if (N3 == 0) {

      return true;

    }

    if (jacobians[2] != NULL) {

      MatrixRef j(jacobians[2], kNumResiduals, N3);

      j.setOnes();

      j *= kNumResiduals * N3;

    }

    return true;

  }

};

class LinearSolverAndEvaluatorCreationTest : public ::testing::Test {

 public:

  virtual void SetUp() {

    x_ = 1.0;

    y_ = 1.0;

    z_ = 1.0;

    problem_.AddResidualBlock(new DummyCostFunction<1, 1, 1>, NULL, &x_, &y_;;

    problem_.AddResidualBlock(new DummyCostFunction<1, 1, 1>, NULL, &y_, &z_;;

  }

  void PreprocessForGivenLinearSolverAndVerify(

      const LinearSolverType linear_solver_type) {

    Solver::Options options;

    options.linear_solver_type = linear_solver_type;

    TrustRegionPreprocessor preprocessor;

    PreprocessedProblem pp;

    EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));

    EXPECT_EQ(pp.options.linear_solver_type, linear_solver_type);

    EXPECT_EQ(pp.linear_solver_options.type, linear_solver_type);

    EXPECT_EQ(pp.evaluator_options.linear_solver_type, linear_solver_type);

    EXPECT_TRUE(pp.linear_solver.get() != NULL);

    EXPECT_TRUE(pp.evaluator.get() != NULL);

  }

 protected:

  ProblemImpl problem_;

  double x_;

  double y_;

  double z_;

};

TEST_F(LinearSolverAndEvaluatorCreationTest, DenseQR) {

  PreprocessForGivenLinearSolverAndVerify(DENSE_QR);

}

TEST_F(LinearSolverAndEvaluatorCreationTest, DenseNormalCholesky) {

  PreprocessForGivenLinearSolverAndVerify(DENSE_NORMAL_CHOLESKY);

}

TEST_F(LinearSolverAndEvaluatorCreationTest, DenseSchur) {

  PreprocessForGivenLinearSolverAndVerify(DENSE_SCHUR);

}

#if defined(CERES_USE_EIGEN_SPARSE) || \

  !defined(CERES_NO_SUITESPARSE) ||   \

  !defined(CERES_NO_CXSPARSE)

TEST_F(LinearSolverAndEvaluatorCreationTest, SparseNormalCholesky) {

  PreprocessForGivenLinearSolverAndVerify(SPARSE_NORMAL_CHOLESKY);

}

#endif

#if defined(CERES_USE_EIGEN_SPARSE) || \

  !defined(CERES_NO_SUITESPARSE) ||   \

  !defined(CERES_NO_CXSPARSE)

TEST_F(LinearSolverAndEvaluatorCreationTest, SparseSchur) {

  PreprocessForGivenLinearSolverAndVerify(SPARSE_SCHUR);

}

#endif

TEST_F(LinearSolverAndEvaluatorCreationTest, CGNR) {

  PreprocessForGivenLinearSolverAndVerify(CGNR);

}

TEST_F(LinearSolverAndEvaluatorCreationTest, IterativeSchur) {

  PreprocessForGivenLinearSolverAndVerify(ITERATIVE_SCHUR);

}

TEST_F(LinearSolverAndEvaluatorCreationTest, MinimizerIsAwareOfBounds) {

  problem_.SetParameterLowerBound(&x_, 0, 0.0);

  Solver::Options options;

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));

  EXPECT_EQ(pp.options.linear_solver_type, options.linear_solver_type);

  EXPECT_EQ(pp.linear_solver_options.type, options.linear_solver_type);

  EXPECT_EQ(pp.evaluator_options.linear_solver_type,

            options.linear_solver_type);

  EXPECT_TRUE(pp.linear_solver.get() != NULL);

  EXPECT_TRUE(pp.evaluator.get() != NULL);

  EXPECT_TRUE(pp.minimizer_options.is_constrained);

}

TEST_F(LinearSolverAndEvaluatorCreationTest, SchurTypeSolverWithBadOrdering) {

  Solver::Options options;

  options.linear_solver_type = DENSE_SCHUR;

  options.linear_solver_ordering.reset(new ParameterBlockOrdering);

  options.linear_solver_ordering->AddElementToGroup(&x_, 0);

  options.linear_solver_ordering->AddElementToGroup(&y_, 0);

  options.linear_solver_ordering->AddElementToGroup(&z_, 1);

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_FALSE(preprocessor.Preprocess(options, &problem_, &pp));

}

TEST_F(LinearSolverAndEvaluatorCreationTest, SchurTypeSolverWithGoodOrdering) {

  Solver::Options options;

  options.linear_solver_type = DENSE_SCHUR;

  options.linear_solver_ordering.reset(new ParameterBlockOrdering);

  options.linear_solver_ordering->AddElementToGroup(&x_, 0);

  options.linear_solver_ordering->AddElementToGroup(&z_, 0);

  options.linear_solver_ordering->AddElementToGroup(&y_, 1);

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));

  EXPECT_EQ(pp.options.linear_solver_type, DENSE_SCHUR);

  EXPECT_EQ(pp.linear_solver_options.type, DENSE_SCHUR);

  EXPECT_EQ(pp.evaluator_options.linear_solver_type, DENSE_SCHUR);

  EXPECT_TRUE(pp.linear_solver.get() != NULL);

  EXPECT_TRUE(pp.evaluator.get() != NULL);

}

TEST_F(LinearSolverAndEvaluatorCreationTest,

       SchurTypeSolverWithEmptyFirstEliminationGroup) {

  problem_.SetParameterBlockConstant(&x_;;

  problem_.SetParameterBlockConstant(&z_;;

  Solver::Options options;

  options.linear_solver_type = DENSE_SCHUR;

  options.linear_solver_ordering.reset(new ParameterBlockOrdering);

  options.linear_solver_ordering->AddElementToGroup(&x_, 0);

  options.linear_solver_ordering->AddElementToGroup(&z_, 0);

  options.linear_solver_ordering->AddElementToGroup(&y_, 1);

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));

  EXPECT_EQ(pp.options.linear_solver_type, DENSE_QR);

  EXPECT_EQ(pp.linear_solver_options.type, DENSE_QR);

  EXPECT_EQ(pp.evaluator_options.linear_solver_type, DENSE_QR);

  EXPECT_TRUE(pp.linear_solver.get() != NULL);

  EXPECT_TRUE(pp.evaluator.get() != NULL);

}

TEST_F(LinearSolverAndEvaluatorCreationTest,

       SchurTypeSolverWithEmptySecondEliminationGroup) {

  problem_.SetParameterBlockConstant(&y_;;

  Solver::Options options;

  options.linear_solver_type = DENSE_SCHUR;

  options.linear_solver_ordering.reset(new ParameterBlockOrdering);

  options.linear_solver_ordering->AddElementToGroup(&x_, 0);

  options.linear_solver_ordering->AddElementToGroup(&z_, 0);

  options.linear_solver_ordering->AddElementToGroup(&y_, 1);

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));

  EXPECT_EQ(pp.options.linear_solver_type, DENSE_SCHUR);

  EXPECT_EQ(pp.linear_solver_options.type, DENSE_SCHUR);

  EXPECT_EQ(pp.evaluator_options.linear_solver_type, DENSE_SCHUR);

  EXPECT_TRUE(pp.linear_solver.get() != NULL);

  EXPECT_TRUE(pp.evaluator.get() != NULL);

}

TEST(TrustRegionPreprocessorTest, InnerIterationsWithOneParameterBlock) {

  ProblemImpl problem;

  double x = 1.0;

  problem.AddResidualBlock(new DummyCostFunction<1, 1>, NULL, &x);

  Solver::Options options;

  options.use_inner_iterations = true;

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));

  EXPECT_TRUE(pp.linear_solver.get() != NULL);

  EXPECT_TRUE(pp.evaluator.get() != NULL);

  EXPECT_TRUE(pp.inner_iteration_minimizer.get() == NULL);

}

TEST_F(LinearSolverAndEvaluatorCreationTest,

       InnerIterationsWithTwoParameterBlocks) {

  Solver::Options options;

  options.use_inner_iterations = true;

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));

  EXPECT_TRUE(pp.linear_solver.get() != NULL);

  EXPECT_TRUE(pp.evaluator.get() != NULL);

  EXPECT_TRUE(pp.inner_iteration_minimizer.get() != NULL);

}

TEST_F(LinearSolverAndEvaluatorCreationTest,

       InvalidInnerIterationsOrdering) {

  Solver::Options options;

  options.use_inner_iterations = true;

  options.inner_iteration_ordering.reset(new ParameterBlockOrdering);

  options.inner_iteration_ordering->AddElementToGroup(&x_, 0);

  options.inner_iteration_ordering->AddElementToGroup(&z_, 0);

  options.inner_iteration_ordering->AddElementToGroup(&y_, 0);

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_FALSE(preprocessor.Preprocess(options, &problem_, &pp));

}

TEST_F(LinearSolverAndEvaluatorCreationTest, ValidInnerIterationsOrdering) {

  Solver::Options options;

  options.use_inner_iterations = true;

  options.inner_iteration_ordering.reset(new ParameterBlockOrdering);

  options.inner_iteration_ordering->AddElementToGroup(&x_, 0);

  options.inner_iteration_ordering->AddElementToGroup(&z_, 0);

  options.inner_iteration_ordering->AddElementToGroup(&y_, 1);

  TrustRegionPreprocessor preprocessor;

  PreprocessedProblem pp;

  EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));

  EXPECT_TRUE(pp.linear_solver.get() != NULL);

  EXPECT_TRUE(pp.evaluator.get() != NULL);

  EXPECT_TRUE(pp.inner_iteration_minimizer.get() != NULL);

}

}  // namespace internal

}  // namespace ceres