Add storage-order-related test.

There are still some bugs in Eigen that need to be solved (cf. #93).
In the meantime, parts of the test are commented out.

tests/CMakeLists.txt

@@ -91,6 +91,7 @@ ROBOPTIM_CORE_TEST(numeric-quadratic-function)
 ROBOPTIM_CORE_TEST(n-times-derivable-function)
 ROBOPTIM_CORE_TEST(parametrized-function)
 ROBOPTIM_CORE_TEST(derivable-parametrized-function)
+ROBOPTIM_CORE_TEST(storage-order)
 ROBOPTIM_CORE_TEST(ref)
 
 # Solver.

tests/storage-order.cc

@@ -0,0 +1,160 @@
+// Copyright (C) 2015 by Benjamin Chrétien, CNRS-LIRMM.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim.  If not, see <http://www.gnu.org/licenses/>.
+
+#include "shared-tests/fixture.hh"
+
+#include <iostream>
+
+#include <roboptim/core/io.hh>
+
+using namespace roboptim;
+
+template <typename T>
+struct Dummy : public GenericDifferentiableFunction<T>
+{
+  ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_
+    (GenericDifferentiableFunction<T>);
+
+  Dummy () : parent_t (2, 2, "dummy function")
+  {}
+
+  void impl_compute (result_ref res, const_argument_ref x) const
+  {
+    res[0] = 1. * x[0] + 2. * x[1];
+    res[1] = 3. * x[0] + 4. * x[1];
+  }
+
+  void impl_gradient (gradient_ref, const_argument_ref, size_type) const
+  {
+    assert (0);
+  }
+
+  void impl_jacobian (jacobian_ref, const_argument_ref x) const;
+};
+
+template <>
+void Dummy<EigenMatrixSparse>::impl_jacobian
+(jacobian_ref jac, const_argument_ref) const
+{
+  jac.setZero ();
+  jac.insert (0,0) = 1.;
+  jac.insert (0,1) = 2.;
+  jac.insert (1,0) = 3.;
+  jac.insert (1,1) = 4.;
+}
+
+template <typename T>
+void Dummy<T>::impl_jacobian
+(jacobian_ref jac, const_argument_ref) const
+{
+  jac.setZero ();
+  jac (0,0) = 1.;
+  jac (0,1) = 2.;
+  jac (1,0) = 3.;
+  jac (1,1) = 4.;
+}
+
+template <typename T>
+struct Dummy2 : public GenericDifferentiableFunction<T>
+{
+  ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_
+    (GenericDifferentiableFunction<T>);
+
+  Dummy2 () : parent_t (2, 1, "dummy function 2")
+  {}
+
+  void impl_compute (result_ref res, const_argument_ref x) const
+  {
+    res[0] = 1. * x[0] + 2. * x[1];
+  }
+
+  void impl_gradient (gradient_ref, const_argument_ref, size_type) const
+  {
+    assert (0);
+  }
+
+  void impl_jacobian (jacobian_ref, const_argument_ref x) const;
+};
+
+template <>
+void Dummy2<EigenMatrixSparse>::impl_jacobian
+(jacobian_ref jac, const_argument_ref) const
+{
+  jac.setZero ();
+  jac.insert (0,0) = 1.;
+  jac.insert (0,1) = 2.;
+}
+
+template <typename T>
+void Dummy2<T>::impl_jacobian
+(jacobian_ref jac, const_argument_ref) const
+{
+  jac.setZero ();
+  jac (0,0) = 1.;
+  jac (0,1) = 2.;
+}
+
+boost::shared_ptr<boost::test_tools::output_test_stream> output;
+
+BOOST_FIXTURE_TEST_SUITE (core, TestSuiteConfiguration)
+
+typedef boost::mpl::list< ::roboptim::EigenMatrixDense,
+			  ::roboptim::EigenMatrixSparse> functionTypes_t;
+
+BOOST_AUTO_TEST_CASE_TEMPLATE (storage_order, T, functionTypes_t)
+{
+  output = retrievePattern ("storage-order");
+
+  // Check storage order
+  BOOST_CHECK (roboptim::StorageOrder == Eigen::ROBOPTIM_STORAGE_ORDER);
+
+  typedef Dummy<T> function_t;
+  typedef typename function_t::gradient_t gradient_t;
+  typedef typename function_t::jacobian_t jacobian_t;
+  typedef typename function_t::argument_t argument_t;
+
+  typedef DifferentiableFunction::matrix_t denseMatrix_t;
+  //typedef DifferentiableFunction::rowVector_t denseRowVector_t;
+
+  Dummy<T> f;
+  argument_t x (2);
+  x.setZero ();
+  // Matrix
+  jacobian_t jac = f.jacobian (x);
+  (*output) << denseMatrix_t (jac) << std::endl;
+
+  gradient_t grad (2);
+  grad.setZero ();
+  // Row vector += row of matrix (currently bugged in Eigen 3.2,
+  // cf. http://eigen.tuxfamily.org/bz/show_bug.cgi?id=980, fails at runtime)
+  //grad += jac.row (0);
+  //(*output) << "B = A.row(0) = " << denseRowVector_t (grad) << std::endl;
+
+  Dummy2<T> f2;
+  jacobian_t jac2 = 2. * f2.jacobian (x);
+  (*output) << denseMatrix_t (jac2) << std::endl;
+  // Row vector += matrix of correct size (currently bugged in Eigen 3.2, fails
+  // at compile time)
+  //grad.setZero ();
+  //grad += jac2;
+  //(*output) << "D = B + C = " << denseRowVector_t (grad) << std::endl;
+
+  std::cout << output->str () << std::endl;
+  BOOST_CHECK (output->match_pattern ());
+}
+
+BOOST_AUTO_TEST_SUITE_END ()

tests/storage-order.stdout

@@ -0,0 +1,2 @@
+[2,2]((1,2), (3,4))
+[2](2,4)