Initial commit

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

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+using CeresSharp;
+
+namespace CeresSharp.Test;
+
+[TestFixture]
+public class LossFunctionTests
+{
+    [Test]
+    public void TrivialLoss_ShouldCreate()
+    {
+        using var loss = new TrivialLoss();
+        Assert.That(loss, Is.Not.Null);
+    }
+
+    [Test]
+    public void HuberLoss_ShouldCreate()
+    {
+        using var loss = new HuberLoss(1.0);
+        Assert.That(loss, Is.Not.Null);
+    }
+
+    [Test]
+    public void HuberLoss_WithDifferentScaling_ShouldCreate()
+    {
+        using var loss1 = new HuberLoss(0.5);
+        using var loss2 = new HuberLoss(2.0);
+        Assert.That(loss1, Is.Not.Null);
+        Assert.That(loss2, Is.Not.Null);
+    }
+
+    [Test]
+    public void CauchyLoss_ShouldCreate()
+    {
+        using var loss = new CauchyLoss(1.0);
+        Assert.That(loss, Is.Not.Null);
+    }
+
+    [Test]
+    public void SoftLOneLoss_ShouldCreate()
+    {
+        using var loss = new SoftLOneLoss(1.0);
+        Assert.That(loss, Is.Not.Null);
+    }
+
+    [Test]
+    public void ArctanLoss_ShouldCreate()
+    {
+        using var loss = new ArctanLoss(1.0);
+        Assert.That(loss, Is.Not.Null);
+    }
+
+    [Test]
+    public void TolerantLoss_ShouldCreate()
+    {
+        using var loss = new TolerantLoss(1.0, 2.0);
+        Assert.That(loss, Is.Not.Null);
+    }
+
+    [Test]
+    public void LossFunction_WithProblem_ShouldWork()
+    {
+        using var problem = new Problem();
+        var parameters = new double[] { 1.0 };
+        problem.AddParameterBlock(parameters, parameters.Length);
+        
+        var costFunction = new AutoDiffCostFunction(
+            (parameters, residuals) =>
+            {
+                residuals[0] = parameters[0][0] - 1.0;
+                return true;
+            },
+            numResiduals: 1,
+            parameterBlockSizes: new[] { 1 });
+        
+        using var loss = new HuberLoss(1.0);
+        var residualBlockId = problem.AddResidualBlock(
+            costFunction,
+            loss,
+            parameterBlocks: new[] { parameters });
+        
+        Assert.That(residualBlockId, Is.Not.EqualTo(IntPtr.Zero), "Residual block ID should not be zero");
+    }
+
+    [Test]
+    public void MultipleLossFunctions_ShouldWork()
+    {
+        using var problem = new Problem();
+        var params1 = new double[] { 1.0 };
+        var params2 = new double[] { 2.0 };
+        problem.AddParameterBlock(params1, params1.Length);
+        problem.AddParameterBlock(params2, params2.Length);
+        
+        var costFunction1 = new AutoDiffCostFunction(
+            (parameters, residuals) =>
+            {
+                residuals[0] = parameters[0][0] - 1.0;
+                return true;
+            },
+            numResiduals: 1,
+            parameterBlockSizes: new[] { 1 });
+        
+        var costFunction2 = new AutoDiffCostFunction(
+            (parameters, residuals) =>
+            {
+                residuals[0] = parameters[0][0] - 2.0;
+                return true;
+            },
+            numResiduals: 1,
+            parameterBlockSizes: new[] { 1 });
+        
+        using var loss1 = new HuberLoss(1.0);
+        using var loss2 = new CauchyLoss(1.0);
+        
+        problem.AddResidualBlock(costFunction1, loss1, new[] { params1 });
+        problem.AddResidualBlock(costFunction2, loss2, new[] { params2 });
+        
+        Assert.That(problem.NumResidualBlocks, Is.EqualTo(2));
+    }
+}