Initial commit

srcs/RobotNet10/RobotApp/Communication/CeresSharp.Test/SimpleTest.cs

@@ -0,0 +1,58 @@
+using CeresSharp;
+using CeresSharp.Enums;
+
+namespace CeresSharp.Test;
+
+/// <summary>
+/// Simple test to isolate crash issue
+/// </summary>
+[TestFixture]
+public class SimpleTest
+{
+    [Test]
+    public void SimpleProblemTest()
+    {
+        using var problem = new Problem();
+        var x = new double[] { 0.0 };
+        problem.AddParameterBlock(x, x.Length);
+        
+        var costFunction = new AutoDiffCostFunction(
+            (parameters, residuals) =>
+            {
+                residuals[0] = parameters[0][0] - 2.0;
+                return true;
+            },
+            numResiduals: 1,
+            parameterBlockSizes: new[] { 1 });
+        
+        problem.AddResidualBlock(costFunction, lossFunction: null,
+            parameterBlocks: new[] { x });
+        
+        using var options = new SolverOptions
+        {
+            LinearSolverType = LinearSolverType.DenseQr,
+            MaxNumIterations = 50,
+            FunctionTolerance = 1e-10
+        };
+        
+        // Solve may fail for various reasons (e.g., initial evaluation failure)
+        try
+        {
+            using var summary = problem.Solve(options);
+            
+            Assert.That(summary, Is.Not.Null);
+            Console.WriteLine("Test completed successfully");
+        }
+        catch (Exceptions.CeresException ex)
+        {
+            // Expected for some problems - just verify it doesn't crash
+            Console.WriteLine($"Solve failed (expected in some cases): {ex.Message}");
+            Assert.Pass("Solve failed but didn't crash");
+        }
+        
+        // Force GC to see if crash happens during finalization
+        GC.Collect();
+        GC.WaitForPendingFinalizers();
+        GC.Collect();
+    }
+}