text: /******************************************************************************
   * Copyright 2017 The Apollo Authors. All Rights Reserved.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   * http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *****************************************************************************/
  
  /**
   * @file
   **/
  #include "modules/planning/math/smoothing_spline/spline_2d_kernel.h"
  
  #include "cyber/common/log.h"
  #include "gtest/gtest.h"
  
  namespace apollo {
  namespace planning {
  
  TEST(Spline2dKernel, add_regularization) {
    std::vector<double> x_knots = {0.0, 1.0, 2.0, 3.0};
    int32_t spline_order = 4;
    Spline2dKernel kernel(x_knots, spline_order);
  
    kernel.AddRegularization(0.2);
  
    for (int i = 0; i < kernel.kernel_matrix().rows(); ++i) {
      for (int j = 0; j < kernel.kernel_matrix().cols(); ++j) {
        if (i == j) {
          EXPECT_DOUBLE_EQ(kernel.kernel_matrix()(i, j), 0.4);
        } else {
          EXPECT_DOUBLE_EQ(kernel.kernel_matrix()(i, j), 0.0);
        }
      }
    }
  
    for (int i = 0; i < kernel.offset().rows(); ++i) {
      for (int j = 0; j < kernel.offset().cols(); ++j) {
        EXPECT_DOUBLE_EQ(kernel.offset()(i, j), 0.0);
      }
    }
  }
  
  }  // namespace planning
  }  // namespace apollo
  